diff --git a/main/config.hpp b/main/config.hpp
index fb1c0be..f2a8bef 100644
--- a/main/config.hpp
+++ b/main/config.hpp
@@ -94,7 +94,7 @@ extern "C" {
 #define STEPPER_SPEED_DEFAULT	20		//mm/s
 #define STEPPER_SPEED_MIN		4		//mm/s  - speed threshold at which stepper immediately starts/stops
 #define STEPPER_ACCEL_INC		3		//steps/s increment per cycle 
-#define STEPPER_DECEL_INC		8		//steps/s decrement per cycle
+#define STEPPER_DECEL_INC		7		//steps/s decrement per cycle
 //options affecting movement are currently defined in guide-stepper.cpp
 
 
diff --git a/main/guide-stepper.cpp b/main/guide-stepper.cpp
index 54d487e..0795ebc 100644
--- a/main/guide-stepper.cpp
+++ b/main/guide-stepper.cpp
@@ -153,6 +153,7 @@ void task_stepper_test(void *pvParameter)
 		SW_CUT.handle();
 		SW_AUTO_CUT.handle();
 
+#ifdef ONE_BUTTON_TEST //test with "reset-button" only
 		//cycle through test commands with one button
 		if (SW_RESET.risingEdge) {
 			switch (state){
@@ -178,21 +179,27 @@ void task_stepper_test(void *pvParameter)
 					break;
 			}
 		}
-	}
-	//	if (SW_PRESET1.risingEdge) {
-	//		buzzer.beep(2, 300, 100);
-	//		stepperSw_setTargetSteps(1000);
-	//	}
-	//	if (SW_PRESET2.risingEdge) {
-	//		buzzer.beep(1, 500, 100);
-	//		stepperSw_setTargetSteps(10000);
-	//	}
-	//	if (SW_PRESET3.risingEdge) {
-	//		buzzer.beep(1, 100, 100);
-	//		stepperSw_setTargetSteps(30000);
-	//	}
-}
+#else //test with all buttons
+		if (SW_RESET.risingEdge) {
+			buzzer.beep(1, 500, 100);
+			stepper_setTargetPosMm(0);
+		}
+		if (SW_PRESET1.risingEdge) {
+			buzzer.beep(1, 200, 100);
+			stepper_setTargetPosMm(50);
+		}
+		if (SW_PRESET2.risingEdge) {
+			buzzer.beep(2, 200, 100);
+			stepper_setTargetPosMm(75);
+		}
+		if (SW_PRESET3.risingEdge) {
+			buzzer.beep(3, 200, 100);
+			stepper_setTargetPosMm(100);
+		}
 #endif
+	}
+}
+#endif //end SIMULATE_ENCODER
 
 
 
diff --git a/main/stepper.cpp b/main/stepper.cpp
index bfacd4d..def4863 100644
--- a/main/stepper.cpp
+++ b/main/stepper.cpp
@@ -239,8 +239,16 @@ bool timer_isr(void *arg) {
 	//FIXME noticed crash: division by 0 when min speed > target speed
 	uint64_t stepsDecelRemaining = (speedNow - speedMin) / decel_increment;
 	//DECELERATE
+
+	//prevent hard stop (faster stop than decel ramp)
+	//Idea: when target gets lowered while decelerating, 
+	//      move further than target to not exceed decel ramp (overshoot),
+	//      then change dir and move back to actual target pos
+	if (stepsToGo < stepsDecelRemaining/2){ //significantly less steps planned to comply with decel ramp
+		stepsToGo = stepsDecelRemaining; //set to required steps
+	}
+
 	if (stepsToGo <= stepsDecelRemaining) {
-		//FIXME if stepsToGo gets updated (lowered) close to target while close to target, the stepper may stop too fast -> implement possibility to 'overshoot and reverse'?
 		if ((speedNow - speedMin) > decel_increment) {
 			speedNow -= decel_increment;
 		} else {