diff --git a/lambda/airgate.c b/lambda/airgate.c
index e60c5ce..04c27ec 100644
--- a/lambda/airgate.c
+++ b/lambda/airgate.c
@@ -4,9 +4,9 @@
  *  Created on: 19.02.2016
  *      Author: dode@luniks.net
  *
- *  Simple (maybe naive) stepper motor control using the DRV8825 with a linear
- *  acceleration profile. An absolute position from 0 to 255 can be set which
- *  relates to the actual number of degrees by the SCALE constant and the
+ *  Simple (maybe naive) stepper motor control with a linear acceleration
+ *  profile using the DRV8825. An absolute position from 0 to 255 can be set
+ *  which relates to the actual number of degrees by the SCALE constant and the
  *  stepping mode. If a new position is set while the motor is busy, it is
  *  decelerated before it starts to move to the new position.
  *  The idea is to be able to set the airgate position from 0 - 100%.
@@ -43,12 +43,10 @@
  * starts the motor by starting the timer.
  */
 static void start(void) {
-	if (bit_is_clear(PORT, PIN_SLEEP)) {
-		// wake up driver
-		PORT |= (1 << PIN_SLEEP);
-		// wakeup time
-		_delay_ms(2);
-	}
+	// set rated current for max torque
+	PORT &= ~(1 << PIN_CURRENT);
+	// some time to stabilize?
+	_delay_us(3);
 	// set dir
 	if (dir == 1) {
 		PORT &= ~(1 << PIN_DIR);
@@ -56,7 +54,7 @@
 		PORT |= (1 << PIN_DIR);
 	}
 	// setup time
-	_delay_us(1);
+	_delay_us(3);
 	// set start speed
 	OCR2A = MIN_SPEED;
 	// start timer2
@@ -74,18 +72,18 @@
 
 /**
  * Calculates the direction and steps to take to get to the target position,
- * the ramp length for the acceleration profile, sets the speed and starts
- * the motor.
+ * the ramp length for the acceleration profile and starts the motor.
  */
 static void set(void) {
 	int16_t diff = (((int16_t)target) << SCALE) - pos;
 	if (diff != 0) {
-		dir = MAX(-1, MIN(diff, 1));
+		dir = (diff > 0) - (diff < 0);
 		steps = abs(diff);
 		ramp = MIN(abs(MAX_SPEED - MIN_SPEED), steps >> 1);
 		start();
 	} else {
-		setSleepMode();
+		// set reduced current to save power
+		PORT |= (1 << PIN_CURRENT);
 	}
 }
 
@@ -135,6 +133,15 @@
 	return target;
 }
 
-void setSleepMode(void) {
-	PORT &= ~(1 << PIN_SLEEP);
+void setSleepMode(bool const on) {
+	if (on) {
+		// wake up driver
+		PORT |= (1 << PIN_SLEEP);
+		// wakeup time
+		// should not be woken up just before stepping anyway, the power supply
+		// might need much more time to stabilize
+		// _delay_ms(2);
+	} else {
+		PORT &= ~(1 << PIN_SLEEP);
+	}
 }
diff --git a/lambda/airgate.h b/lambda/airgate.h
index d39f490..a9b88de 100644
--- a/lambda/airgate.h
+++ b/lambda/airgate.h
@@ -29,19 +29,19 @@
  * Sets the airgate position 0 - 100%. The actual number of degrees the motor
  * spins depends on the SCALE and the stepping mode. If the motor is currently
  * moving to a target position when this function is called, it is first
- * decelerated and then moves to the new target position.
+ * decelerated and then starts moving to the new target position.
  */
 void setAirgate(uint8_t const position);
 
 /**
- * Returns the current airgate position, assuming the motor did all the steps
+ * Returns the current airgate position, assuming the motor does all the steps
  * it was requested to do.
  */
 uint8_t getAirgate(void);
 
 /**
- * Sets the driver in sleep mode.
+ * Wakes up the driver or puts it in sleep mode.
  */
-void setSleepMode(void);
+void setSleepMode(bool const on);
 
 #endif /* AIRGATE_H_ */
diff --git a/lambda/interrupts.c b/lambda/interrupts.c
index ebdf46a..f90c472 100644
--- a/lambda/interrupts.c
+++ b/lambda/interrupts.c
@@ -85,10 +85,11 @@
 	// enable oxygen sensor heater control output pin
 	DDR |= (1 << PIN_HEATER);
 
-	// enable dir and step pin for stepper motor driver
+	// enable output pins for stepper motor driver
 	DDR |= (1 << PIN_SLEEP);
 	DDR |= (1 << PIN_STEP);
 	DDR |= (1 << PIN_DIR);
+	DDR |= (1 << PIN_CURRENT);
 }
 
 void setupSleepMode(void) {
diff --git a/lambda/lambda.c b/lambda/lambda.c
index 5c2db3b..747216e 100644
--- a/lambda/lambda.c
+++ b/lambda/lambda.c
@@ -55,6 +55,9 @@
 	initInterrupts();
 	initTimers();
 
+	// wake up stepper motor driver
+	setSleepMode(true);
+
 	alert_P(1, 1, 31, PSTR(MSG_WELCOME), PSTR(""), false);
 	// spend some time on being polite
 	while (getTime() < 3) {}
diff --git a/lambda/pins.h b/lambda/pins.h
index 4374476..c9c2c2f 100644
--- a/lambda/pins.h
+++ b/lambda/pins.h
@@ -35,12 +35,14 @@
 #define PIN_BEEPER_TOGGLE COM1A0
 /** Pin for the oxygen sensor heater */
 #define PIN_HEATER PB2
-/** Pin for the stepper motor driver sleep mode **/
+/** Pin for stepper motor driver sleep mode **/
 #define PIN_SLEEP PB3
-/** Pin for the stepper motor driver step input */
+/** Pin for stepper motor driver step input */
 #define PIN_STEP PB4
-/** Pin for the stepper motor driver direction input */
+/** Pin for stepper motor driver direction input */
 #define PIN_DIR PB5
+/** Pin for stepper motor current control */
+#define PIN_CURRENT PB6
 
 /* Pins for the LCD */
 #define LCD_PORT PORTD