diff --git a/main/config.cpp b/main/config.cpp
index 40d9703..1b515e1 100644
--- a/main/config.cpp
+++ b/main/config.cpp
@@ -29,8 +29,8 @@ single100a_config_t configDriverRight = {
 
 //--- configure motor contol ---
 motorctl_config_t configMotorControl = {
-    .msFadeAccel = 5000, //acceleration of the motor (ms it takes from 0% to 100%)
-    .msFadeDecel = 3000, //deceleration of the motor (ms it takes from 100% to 0%)
+    .msFadeAccel = 2000, //acceleration of the motor (ms it takes from 0% to 100%)
+    .msFadeDecel = 1000, //deceleration of the motor (ms it takes from 100% to 0%)
     .currentMax = 10
 };
 
diff --git a/main/motorctl.cpp b/main/motorctl.cpp
index 55d7435..c887c97 100644
--- a/main/motorctl.cpp
+++ b/main/motorctl.cpp
@@ -122,14 +122,13 @@ void controlledMotor::handle(){
         if (dutyNow < 0) { //reverse, decelerating
             fade(&dutyNow, dutyTarget, dutyIncrementDecel);
         }
-        else if (dutyNow > 0) { //forward, accelerating
+        else if (dutyNow >= 0) { //forward, accelerating
             fade(&dutyNow, dutyTarget, dutyIncrementAccel);
         }
     }
     else if (dutyDelta < 0) { //difference negative -> decreasing duty (100 -> -100)
-        if (dutyNow < 0) { //reverse, accelerating
+        if (dutyNow <= 0) { //reverse, accelerating
             fade(&dutyNow, dutyTarget, - dutyIncrementAccel);
-
         }
         else if (&dutyNow > 0) { //forward, decelerating
             fade(&dutyNow, dutyTarget, - dutyIncrementDecel);