diff --git a/main/button.cpp b/main/button.cpp
index 8fd1435..0781953 100644
--- a/main/button.cpp
+++ b/main/button.cpp
@@ -42,8 +42,11 @@ void buttonCommands::action (uint8_t count){
             break;
 
         case 1:
-            ESP_LOGW(TAG, "running command for count 1");
-            buzzer->beep(1,500,1);
+            ESP_LOGW(TAG, "RESTART");
+            buzzer->beep(1,1000,1);
+            vTaskDelay(1000 / portTICK_PERIOD_MS);
+            esp_restart();
+
             break;
 
         case 2:
diff --git a/main/config.cpp b/main/config.cpp
index 2ab2b43..d22ffa0 100644
--- a/main/config.cpp
+++ b/main/config.cpp
@@ -29,7 +29,7 @@ single100a_config_t configDriverRight = {
 
 //configure motor contol
 motorctl_config_t configMotorControl = {
-    .msFade = 3000,
+    .msFade = 900,
     .currentMax = 10
 };
 
diff --git a/main/joystick.cpp b/main/joystick.cpp
index 706134f..62997c3 100644
--- a/main/joystick.cpp
+++ b/main/joystick.cpp
@@ -221,7 +221,7 @@ motorCommands_t joystick_generateCommandsDriving(joystickData_t data){
 
 
     motorCommands_t commands;
-    float dutyMax = 60; //TODO add this to config, make changeable during runtime
+    float dutyMax = 94; //TODO add this to config, make changeable during runtime
 
     float dutyOffset = 5; //immedeately starts with this duty, TODO add this to config
     float dutyRange = dutyMax - dutyOffset;