Joint with 2 controllers

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Hi all, I have a joint that is controlled by a joint effort controller but I want to reset the joint with the joint position controller. Is this possible and how do it do it? this is my yaml file

rrbot:
  # Publish all joint states -----------------------------------
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50  

  # Position Controllers ---------------------------------------
  joint1_position_controller:
    type: effort_controllers/JointEffortController
    joint: joint1
    pid: {p: 100.0, i: 0.01, d: 10.0}
  joint2_position_controller:
    type: effort_controllers/JointEffortController
    joint: joint2
    pid: {p: 100.0, i: 0.01, d: 10.0}