diff --git a/wpilibc/wpilibC++Devices/include/CANTalon.h b/wpilibc/wpilibC++Devices/include/CANTalon.h
index ab45adb3e9..85552f8e83 100644
--- a/wpilibc/wpilibC++Devices/include/CANTalon.h
+++ b/wpilibc/wpilibC++Devices/include/CANTalon.h
@@ -139,4 +139,11 @@ private:
 
   double m_setPoint;
   static const unsigned int kDelayForSolicitedSignalsUs = 4000;
+  /**
+   * Fixup the sendMode so Set() serializes the correct demand value.
+   * Also fills the modeSelecet in the control frame to disabled.
+   * @param mode Control mode to ultimately enter once user calls Set().
+   * @see Set()
+   */
+  void ApplyControlMode(CANSpeedController::ControlMode mode);
 };
diff --git a/wpilibc/wpilibC++Devices/src/CANTalon.cpp b/wpilibc/wpilibC++Devices/src/CANTalon.cpp
index d023234d50..907587eba4 100644
--- a/wpilibc/wpilibC++Devices/src/CANTalon.cpp
+++ b/wpilibc/wpilibC++Devices/src/CANTalon.cpp
@@ -21,7 +21,7 @@ CANTalon::CANTalon(int deviceNumber)
   , m_controlMode(kPercentVbus)
   , m_setPoint(0)
 {
-  SetControlMode(m_controlMode);
+  ApplyControlMode(m_controlMode);
   m_impl->SetProfileSlotSelect(m_profile);
 }
 /**
@@ -39,7 +39,7 @@ CANTalon::CANTalon(int deviceNumber,int controlPeriodMs)
   , m_controlMode(kPercentVbus)
   , m_setPoint(0)
 {
-  SetControlMode(m_controlMode);
+  ApplyControlMode(m_controlMode);
   m_impl->SetProfileSlotSelect(m_profile);
 }
 CANTalon::~CANTalon() {
@@ -1100,9 +1100,12 @@ void CANTalon::ConfigFaultTime(float faultTime)
 }
 
 /**
- * TODO documentation (see CANJaguar.cpp)
+ * Fixup the sendMode so Set() serializes the correct demand value.
+ * Also fills the modeSelecet in the control frame to disabled.
+ * @param mode Control mode to ultimately enter once user calls Set().
+ * @see Set()
  */
-void CANTalon::SetControlMode(CANSpeedController::ControlMode mode)
+void CANTalon::ApplyControlMode(CANSpeedController::ControlMode mode)
 {
   m_controlMode = mode;
   switch (mode) {
@@ -1131,6 +1134,17 @@ void CANTalon::SetControlMode(CANSpeedController::ControlMode mode)
 		wpi_setErrorWithContext(status, getHALErrorMessage(status));
 	}
 }
+/**
+ * TODO documentation (see CANJaguar.cpp)
+ */
+void CANTalon::SetControlMode(CANSpeedController::ControlMode mode)
+{
+  if(m_controlMode == mode){
+    /* we already are in this mode, don't perform disable workaround */
+  }else{
+    ApplyControlMode(mode);
+  }
+}
 
 /**
  * TODO documentation (see CANJaguar.cpp)
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
index baf76b4050..5b74a8d85f 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
@@ -91,7 +91,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
     m_profile = 0;
     m_setPoint = 0;
     setProfile(m_profile);
-    changeControlMode(ControlMode.PercentVbus);
+    applyControlMode(ControlMode.PercentVbus);
   }
   public CANTalon(int deviceNumber,int controlPeriodMs) {
     m_deviceNumber = deviceNumber;
@@ -101,7 +101,7 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
     m_profile = 0;
     m_setPoint = 0;
     setProfile(m_profile);
-    changeControlMode(ControlMode.PercentVbus);
+    applyControlMode(ControlMode.PercentVbus);
   }
   public CANTalon(int deviceNumber,int controlPeriodMs) {
     m_deviceNumber = deviceNumber;
@@ -425,14 +425,26 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
   public ControlMode getControlMode() {
     return m_controlMode;
   }
-
-  public void changeControlMode(ControlMode controlMode) {
+  /**
+   * Fixup the m_controlMode so set() serializes the correct demand value.
+   * Also fills the modeSelecet in the control frame to disabled.
+   * @param controlMode Control mode to ultimately enter once user calls set().
+   * @see #set
+   */  
+  public void applyControlMode(ControlMode controlMode) {
     m_controlMode = controlMode;
     if (controlMode == ControlMode.Disabled)
       m_controlEnabled = false;
     // Disable until set() is called.
     m_impl.SetModeSelect(ControlMode.Disabled.value);
   }
+  public void changeControlMode(ControlMode controlMode) {
+    if(m_controlMode == controlMode){
+      /* we already are in this mode, don't perform disable workaround */
+    }else{
+      applyControlMode(controlMode);
+    }
+  }
 
   public void setFeedbackDevice(FeedbackDevice device) {
     m_impl.SetFeedbackDeviceSelect(device.value);