diff --git a/Firmware/MotorControl/controller.cpp b/Firmware/MotorControl/controller.cpp
index 70324f655..11c85b458 100644
--- a/Firmware/MotorControl/controller.cpp
+++ b/Firmware/MotorControl/controller.cpp
@@ -1,6 +1,7 @@
 
 #include "odrive_main.h"
 #include <algorithm>
+#include <numeric>
 
 bool Controller::apply_config() {
     config_.parent = this;
@@ -53,6 +54,20 @@ void Controller::start_anticogging_calibration() {
     }
 }
 
+float Controller::remove_anticogging_bias()
+{
+    auto& cogmap = config_.anticogging.cogging_map;
+    
+    auto sum = std::accumulate(std::begin(cogmap), std::end(cogmap), 0.0f);
+    auto average = sum / std::size(cogmap);
+
+    for(auto& val : cogmap) {
+        val -= average;
+    }
+
+    return average;
+}
+
 
 /*
  * This anti-cogging implementation iterates through each encoder position,
diff --git a/Firmware/MotorControl/controller.hpp b/Firmware/MotorControl/controller.hpp
index 7a7d8acf9..2b78d6c58 100644
--- a/Firmware/MotorControl/controller.hpp
+++ b/Firmware/MotorControl/controller.hpp
@@ -81,6 +81,7 @@ class Controller : public ODriveIntf::ControllerIntf {
     
     // TODO: make this more similar to other calibration loops
     void start_anticogging_calibration();
+    float remove_anticogging_bias();
     bool anticogging_calibration(float pos_estimate, float vel_estimate);
     
     float get_anticogging_value(uint32_t index) {
diff --git a/Firmware/odrive-interface.yaml b/Firmware/odrive-interface.yaml
index 5ece87565..34cb09d06 100644
--- a/Firmware/odrive-interface.yaml
+++ b/Firmware/odrive-interface.yaml
@@ -1196,6 +1196,7 @@ interfaces:
             usually corresponds roughly to the current position of the axis.'
           }
       start_anticogging_calibration:
+      remove_anticogging_bias: {out: {val: float32}}
       get_anticogging_value: {in: {index: uint32}, out: {val: float32}}