diff --git a/include/controller.hpp b/include/controller.hpp
index 0a67f42..15b6a6c 100644
--- a/include/controller.hpp
+++ b/include/controller.hpp
@@ -58,6 +58,7 @@ public:
     bool FreeBound(bool flag);
     bool FreeJump(bool flag);
     bool FreeAvoid(bool flag);
+    bool ClassicWalk(bool flag);
     bool WalkUpright(bool flag);
     bool CrossStep(bool flag);
     bool TrajectoryFollow(const std::vector<unitree::robot::go2::PathPoint>& path);