diff --git a/hal/lib/Athena/ctre/CanTalonSRX.cpp b/hal/lib/Athena/ctre/CanTalonSRX.cpp
index 54de5353cb..a51099c2b7 100644
--- a/hal/lib/Athena/ctre/CanTalonSRX.cpp
+++ b/hal/lib/Athena/ctre/CanTalonSRX.cpp
@@ -1222,6 +1222,10 @@ CTR_Code c_TalonSRX_SetModeSelect(void *handle, int param)
 {
 	return ((CanTalonSRX*)handle)->SetModeSelect(param);
 }
+CTR_Code c_TalonSRX_SetModeSelect2(void *handle, int modeSelect, int demand)
+{
+	return ((CanTalonSRX*)handle)->SetModeSelect(modeSelect, demand);
+}
 CTR_Code c_TalonSRX_SetProfileSlotSelect(void *handle, int param)
 {
 	return ((CanTalonSRX*)handle)->SetProfileSlotSelect(param);
diff --git a/hal/lib/Athena/ctre/CanTalonSRX.h b/hal/lib/Athena/ctre/CanTalonSRX.h
index 37bd5e4c67..cc2236b06d 100644
--- a/hal/lib/Athena/ctre/CanTalonSRX.h
+++ b/hal/lib/Athena/ctre/CanTalonSRX.h
@@ -366,6 +366,7 @@ extern "C" {
 	CTR_Code c_TalonSRX_SetRevMotDuringCloseLoopEn(void *handle, int param);
 	CTR_Code c_TalonSRX_SetOverrideBrakeType(void *handle, int param);
 	CTR_Code c_TalonSRX_SetModeSelect(void *handle, int param);
+	CTR_Code c_TalonSRX_SetModeSelect2(void *handle, int modeSelect, int demand);
 	CTR_Code c_TalonSRX_SetProfileSlotSelect(void *handle, int param);
 	CTR_Code c_TalonSRX_SetRampThrottle(void *handle, int param);
 	CTR_Code c_TalonSRX_SetRevFeedbackSensor(void *handle, int param);