diff --git a/main/auto.cpp b/main/auto.cpp
index beff71d..d5b2246 100644
--- a/main/auto.cpp
+++ b/main/auto.cpp
@@ -1,4 +1,5 @@
 #include "auto.hpp"
+#include "config.hpp"
 
 //tag for logging
 static const char * TAG = "automatedArmchair";
@@ -23,6 +24,11 @@ motorCommands_t automatedArmchair::generateCommands() {
         //get next command from queue
         if( xQueueReceive( commandQueue, &cmdCurrent, pdMS_TO_TICKS(500) ) ) {
             ESP_LOGI(TAG, "running next command from queue...");
+            //set acceleration / fading parameters according to command
+            motorLeft.setFade(fadeType_t::DECEL, cmdCurrent.fadeDecel);
+            motorRight.setFade(fadeType_t::DECEL, cmdCurrent.fadeDecel);
+            motorLeft.setFade(fadeType_t::ACCEL, cmdCurrent.fadeAccel);
+            motorRight.setFade(fadeType_t::ACCEL, cmdCurrent.fadeAccel);
             //calculate timestamp the command is finished
             timestampCmdFinished = esp_log_timestamp() + cmdCurrent.msDuration;
             //copy the new commands
@@ -35,6 +41,7 @@ motorCommands_t automatedArmchair::generateCommands() {
         ESP_LOGD(TAG, "command still running -> no change");
     }
 
+    //TODO also return instructions via call by reference
     return motorCommands;
 }
 
diff --git a/main/auto.hpp b/main/auto.hpp
index 7a43ce1..061b518 100644
--- a/main/auto.hpp
+++ b/main/auto.hpp
@@ -18,7 +18,7 @@ extern "C"
 //---- struct, enum, variable declarations ---
 //--------------------------------------------
 //enum for special instructions / commands to be run in control task
-enum class instructions_t { NONE, SWITCH_PREV_MODE, RESET_ACCEL, RESET_DECEL };
+enum class auto_instruction_t { NONE, SWITCH_PREV_MODE, RESET_ACCEL, RESET_DECEL };
 
 //struct for a simple command
 //e.g. put motors in a certain state for certain time
@@ -26,8 +26,8 @@ typedef struct commandSimple_t{
     motorCommands_t motorCmds;
     uint32_t msDuration;
     uint32_t fadeDecel;
-    uint32_t fadeAcel;
-    instructions_t instructions;
+    uint32_t fadeAccel;
+    auto_instruction_t instruction;
 } commandSimple_t;
 
 
diff --git a/main/button.cpp b/main/button.cpp
index 0f03db8..4829fdc 100644
--- a/main/button.cpp
+++ b/main/button.cpp
@@ -60,16 +60,27 @@ void buttonCommands::action (uint8_t count){
             ////////control->sendButtonEvent(count); //TODO: always send button event to control task (not just at count=1) -> control.cpp has to be changed
             //====== TESTING: send cmd to auto mode =====
             //define commands
+            cmds[0] =
+            {
+                .motorCmds = {
+                    .left = {motorstate_t::REV, 90},
+                    .right = {motorstate_t::REV, 90}
+                },
+                .msDuration = 700,
+                .fadeDecel = 800,
+                .fadeAccel = 1200,
+                .instruction = auto_instruction_t::NONE
+            };
             cmds[1] =
             {
                 .motorCmds = {
-                    .left = {motorstate_t::FWD, 40},
-                    .right = {motorstate_t::FWD, 40}
+                    .left = {motorstate_t::FWD, 50},
+                    .right = {motorstate_t::FWD, 50}
                 },
-                .msDuration = 2000,
-                .fadeDecel = 800,
-                .fadeAcel = 1300,
-                .instructions = instructions_t::NONE
+                .msDuration = 100,
+                .fadeDecel = 0,
+                .fadeAccel = 400,
+                .instruction = auto_instruction_t::NONE
             };
             cmds[2] =
             {
@@ -77,21 +88,10 @@ void buttonCommands::action (uint8_t count){
                     .left = {motorstate_t::IDLE, 0},
                     .right = {motorstate_t::IDLE, 0}
                 },
-                .msDuration = 1000,
+                .msDuration = 10,
                 .fadeDecel = 800,
-                .fadeAcel = 1300,
-                .instructions = instructions_t::NONE
-            };
-            cmds[3] =
-            {
-                .motorCmds = {
-                    .left = {motorstate_t::REV, 40},
-                    .right = {motorstate_t::REV, 40}
-                },
-                .msDuration = 1000,
-                .fadeDecel = 800,
-                .fadeAcel = 1300,
-                .instructions = instructions_t::NONE
+                .fadeAccel = 1300,
+                .instruction = auto_instruction_t::NONE
             };
 
             //send commands to automatedArmchair command queue
diff --git a/main/control.cpp b/main/control.cpp
index 9984570..9e44895 100644
--- a/main/control.cpp
+++ b/main/control.cpp
@@ -126,6 +126,10 @@ void controlledArmchair::startHandleLoop() {
                 vTaskDelay(20 / portTICK_PERIOD_MS);
                //generate commands
                commands = armchair.generateCommands();
+                //--- apply commands to motors ---
+                //TODO make motorctl.setTarget also accept motorcommand struct directly
+                motorRight->setTarget(commands.right.state, commands.right.duty); 
+                motorLeft->setTarget(commands.left.state, commands.left.duty); 
                break;
 
 
@@ -274,7 +278,8 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
 
     ESP_LOGW(TAG, "=== changing mode from %s to %s ===", controlModeStr[(int)mode], controlModeStr[(int)modeNew]);
 
-    //--- run functions when changing FROM certain mode ---
+    //========== commands change FROM mode ==========
+    //run functions when changing FROM certain mode
     switch(modePrevious){
         default:
             ESP_LOGI(TAG, "noting to execute when changing FROM this mode");
@@ -307,10 +312,22 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
             //reset frozen input state
             freezeInput = false;
             break;
+
+        case controlMode_t::AUTO:
+            ESP_LOGW(TAG, "switching from AUTO mode -> restoring fading to default");
+            //TODO: fix issue when downfading was disabled before switching to auto mode - currently it gets enabled again here...
+            //enable downfading (set to default value)
+            motorLeft->setFade(fadeType_t::DECEL, true);
+            motorRight->setFade(fadeType_t::DECEL, true);
+            //set upfading to default value
+            motorLeft->setFade(fadeType_t::ACCEL, true);
+            motorRight->setFade(fadeType_t::ACCEL, true);
+            break;
     }
 
 
-    //--- run functions when changing TO certain mode ---
+    //========== commands change TO mode ==========
+    //run functions when changing TO certain mode
     switch(modeNew){
         default:
             ESP_LOGI(TAG, "noting to execute when changing TO this mode");
diff --git a/main/main.cpp b/main/main.cpp
index 8166481..400ed05 100644
--- a/main/main.cpp
+++ b/main/main.cpp
@@ -176,7 +176,7 @@ extern "C" void app_main(void) {
     //--- create task for button ---
     //------------------------------
     //task that evaluates and processes the button input and runs the configured commands
-    xTaskCreate(&task_button, "task_button", 2048, NULL, 4, NULL);
+    xTaskCreate(&task_button, "task_button", 4096, NULL, 4, NULL);
 
     //-----------------------------------
     //--- create task for fan control ---