diff --git a/motion_control.c b/motion_control.c
index 2d01eb2..b3d9fa3 100644
--- a/motion_control.c
+++ b/motion_control.c
@@ -39,10 +39,10 @@ void mc_dwell(uint32_t milliseconds)
 // Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
 // unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
 // 1/feed_rate minutes.
-void mc_line(double x, double y, double z, double feed_rate, int invert_feed_rate)
-{
-  plan_buffer_line(x, y, z, feed_rate, invert_feed_rate);
-}
+// void mc_line(double x, double y, double z, double feed_rate, int invert_feed_rate)
+// {
+//   plan_buffer_line(x, y, z, feed_rate, invert_feed_rate);
+// }
 
 // Execute an arc. theta == start angle, angular_travel == number of radians to go along the arc,
 // positive angular_travel means clockwise, negative means counterclockwise. Radius == the radius of the
diff --git a/motion_control.h b/motion_control.h
index 2f1737e..2d37292 100644
--- a/motion_control.h
+++ b/motion_control.h
@@ -19,14 +19,19 @@
 */
 
 #ifndef motion_control_h
-#define motion_control_h 
+#define motion_control_h
 
 #include <avr/io.h>
+#include "planner.h"
 
 // Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
 // unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
 // (1 minute)/feed_rate time.
-void mc_line(double x, double y, double z, double feed_rate, int invert_feed_rate);
+// void mc_line(double x, double y, double z, double feed_rate, int invert_feed_rate);                   
+#define mc_line(x, y, z, feed_rate, invert_feed_rate) plan_buffer_line(x,y,z,feed_rate,invert_feed_rate) 
+// Note: Although this function structurally belongs in this module, there is nothing to to but
+// to forward the request to the planner. For efficiency the function is replaced with a macro that
+// just forwards the call to the planner.
 
 // Execute an arc. theta == start angle, angular_travel == number of radians to go along the arc,
 // positive angular_travel means clockwise, negative means counterclockwise. Radius == the radius of the