diff --git a/src/control_interface.h b/src/control_interface.h
index 218ed38c..fb52e741 100644
--- a/src/control_interface.h
+++ b/src/control_interface.h
@@ -17,6 +17,16 @@ namespace robot {
  */
 double setCmdVel(double dtheta, double dx);
 
+/**
+ * @brief Request the robot to drive in tank style, where each side is controlled individually.
+ *
+ * @param left The left velocity.
+ * @param right The right velocity.
+ * @return double If the requested velocities are too high, they will be scaled down.
+ * The returned value is the scale divisor. If no scaling was performed, 1 is returned.
+ */
+double setTankCmdVel(double left, double right);
+
 /**
  * @brief Set the power of the specified joint.
  *
diff --git a/src/world_interface/world_interface.h b/src/world_interface/world_interface.h
index d65b3f69..d552c326 100644
--- a/src/world_interface/world_interface.h
+++ b/src/world_interface/world_interface.h
@@ -81,16 +81,6 @@ void emergencyStop();
  */
 bool isEmergencyStopped();
 
-/**
- * @brief Request the robot to drive in tank style, where each side is controlled individually.
- *
- * @param left The left velocity.
- * @param right The right velocity.
- * @return double If the requested velocities are too high, they will be scaled down.
- * The returned value is the scale divisor. If no scaling was performed, 1 is returned.
- */
-double setTankCmdVel(double left, double right);
-
 /**
  * @brief Get the IDs of the currently supported cameras.
  *