diff --git a/include/config.h b/include/config.h
index fc54a99..4117e2e 100644
--- a/include/config.h
+++ b/include/config.h
@@ -24,6 +24,7 @@
 #define PWM_RESOLUTION 8    // 8-bit resolution (0-255)
 #define PWM_CHANNEL_R 0     // LEDC channel for RPWM
 #define PWM_CHANNEL_L 1     // LEDC channel for LPWM
+#define MIN_PWM_PERCENT 20  // Minimum PWM when motor is running (%)
 
 // Current Sense Configuration
 // BTS7960 current sense ratio: 8500:1 (kilo-amps)
@@ -33,8 +34,10 @@
 #define SENSE_RESISTOR 1000.0f        // 1kΩ sense resistor (ohms)
 #define ADC_MAX 4095.0f               // 12-bit ADC max value
 #define ADC_VREF 3.3f                 // ADC reference voltage
-#define STALL_CURRENT_THRESHOLD 4.0f  // Current (amps) that indicates stall
-#define STALL_DETECT_TIME_MS 2500     // Time to confirm stall (ms) - accounts for startup inrush
+#define CURRENT_CALIBRATION 0.33f    // Calibration factor (measured current / reported current)
+#define STALL_CURRENT_THRESHOLD 7.0f  // Current (amps) that indicates stall
+#define STALL_DETECT_TIME_MS 1000     // Time to confirm stall (ms) - accounts for startup inrush
+#define DISABLE_STALL_DETECT false    // Set to true to disable stall detection
 
 // Web Server
 #define HTTP_PORT 80
diff --git a/include/motor.h b/include/motor.h
index ba1d434..d80bf04 100644
--- a/include/motor.h
+++ b/include/motor.h
@@ -23,13 +23,14 @@ public:
     void setStallCallback(void (*callback)(float current));
     
     // Pingpong mode
-    void startPingpong(int speed, int timeMs, int speedRandomPercent, int timeRandomPercent);
+    void startPingpong(int speed, int timeMs, int speedRandomPercent, int timeRandomPercent, bool useStallReturn);
     void stopPingpong();
     bool isPingpongActive();
     int getPingpongSpeed();
     int getPingpongTime();
     int getPingpongSpeedRandom();
     int getPingpongTimeRandom();
+    bool getPingpongStallReturn();
 
 private:
     int _speed = 0;
@@ -50,6 +51,7 @@ private:
     int _pingpongCurrentTime = 2000;
     unsigned long _pingpongLastSwitch = 0;
     int _pingpongDirection = 1;
+    bool _pingpongUseStallReturn = false;  // Return only after stall detection
     
     void applyMotorState();
     float readCurrentSense(int pin);
diff --git a/src/motor.cpp b/src/motor.cpp
index fa00f2e..7906768 100644
--- a/src/motor.cpp
+++ b/src/motor.cpp
@@ -52,7 +52,7 @@ void MotorController::setDirection(int dir) {
 }
 
 void MotorController::stop() {
-    _speed = 0;
+    // Don't reset _speed - keep last speed setting
     _direction = 0;
     _stalled = false;
     _stallStartTime = 0;
@@ -117,8 +117,14 @@ void MotorController::setStallCallback(void (*callback)(float current)) {
 }
 
 void MotorController::applyMotorState() {
+    // Apply minimum PWM when motor is running
+    int effectiveSpeed = _speed;
+    if (_speed > 0 && _speed < MIN_PWM_PERCENT) {
+        effectiveSpeed = MIN_PWM_PERCENT;
+    }
+    
     // Convert percentage to 8-bit PWM value
-    int pwmValue = map(_speed, 0, 100, 0, 255);
+    int pwmValue = map(effectiveSpeed, 0, 100, 0, 255);
     
     if (_direction == 0 || _speed == 0) {
         // Stop - both PWM outputs off
@@ -151,6 +157,9 @@ float MotorController::readCurrentSense(int pin) {
     // Therefore: I_load = V * CURRENT_SENSE_RATIO / R_sense
     float current = (voltage * CURRENT_SENSE_RATIO) / SENSE_RESISTOR;
     
+    // Apply calibration factor (adjust for real-world measurement differences)
+    current *= CURRENT_CALIBRATION;
+    
     return current;
 #else
     return 0.0f;
@@ -158,26 +167,31 @@ float MotorController::readCurrentSense(int pin) {
 }
 
 // Pingpong mode implementation
-void MotorController::startPingpong(int speed, int timeMs, int speedRandomPercent, int timeRandomPercent) {
+void MotorController::startPingpong(int speed, int timeMs, int speedRandomPercent, int timeRandomPercent, bool useStallReturn) {
     _pingpongBaseSpeed = constrain(speed, 0, 100);
     _pingpongBaseTime = constrain(timeMs, 100, 30000);
     _pingpongSpeedRandomPercent = constrain(speedRandomPercent, 0, 100);
     _pingpongTimeRandomPercent = constrain(timeRandomPercent, 0, 100);
+    _pingpongUseStallReturn = useStallReturn;
     
     _pingpongDirection = 1;
     _pingpongCurrentSpeed = applyRandomness(_pingpongBaseSpeed, _pingpongSpeedRandomPercent);
-    _pingpongCurrentTime = applyRandomness(_pingpongBaseTime, _pingpongTimeRandomPercent);
+    // Time randomness disabled when using stall return
+    _pingpongCurrentTime = _pingpongUseStallReturn ? _pingpongBaseTime : applyRandomness(_pingpongBaseTime, _pingpongTimeRandomPercent);
     _pingpongLastSwitch = millis();
     _pingpongActive = true;
+    _stalled = false;  // Reset stall state when starting pingpong
+    _stallStartTime = 0;
     
     // Apply initial state
     _speed = _pingpongCurrentSpeed;
     _direction = _pingpongDirection;
     applyMotorState();
     
-    Serial.printf("Pingpong started: speed=%d%% (base=%d, rand=%d%%), time=%dms (base=%d, rand=%d%%)\n",
+    Serial.printf("Pingpong started: speed=%d%% (base=%d, rand=%d%%), time=%dms (base=%d, rand=%d%%), stallReturn=%s\n",
                   _pingpongCurrentSpeed, _pingpongBaseSpeed, _pingpongSpeedRandomPercent,
-                  _pingpongCurrentTime, _pingpongBaseTime, _pingpongTimeRandomPercent);
+                  _pingpongCurrentTime, _pingpongBaseTime, _pingpongTimeRandomPercent,
+                  _pingpongUseStallReturn ? "true" : "false");
 }
 
 void MotorController::stopPingpong() {
@@ -206,17 +220,41 @@ int MotorController::getPingpongTimeRandom() {
     return _pingpongTimeRandomPercent;
 }
 
+bool MotorController::getPingpongStallReturn() {
+    return _pingpongUseStallReturn;
+}
+
 void MotorController::updatePingpong() {
     if (!_pingpongActive) return;
     
+    bool shouldSwitch = false;
     unsigned long now = millis();
-    if ((now - _pingpongLastSwitch) >= (unsigned long)_pingpongCurrentTime) {
-        // Time to switch direction
+    
+    if (_pingpongUseStallReturn) {
+        // Switch direction only when stall is detected
+        if (_stalled) {
+            shouldSwitch = true;
+            Serial.println("Pingpong: stall detected, switching direction");
+        }
+    } else {
+        // Time-based switching
+        if ((now - _pingpongLastSwitch) >= (unsigned long)_pingpongCurrentTime) {
+            shouldSwitch = true;
+        }
+    }
+    
+    if (shouldSwitch) {
+        // Switch direction
         _pingpongDirection = -_pingpongDirection;
         
+        // Reset stall state for new direction
+        _stalled = false;
+        _stallStartTime = 0;
+        
         // Apply randomness for next cycle
         _pingpongCurrentSpeed = applyRandomness(_pingpongBaseSpeed, _pingpongSpeedRandomPercent);
-        _pingpongCurrentTime = applyRandomness(_pingpongBaseTime, _pingpongTimeRandomPercent);
+        // Time randomness disabled when using stall return
+        _pingpongCurrentTime = _pingpongUseStallReturn ? _pingpongBaseTime : applyRandomness(_pingpongBaseTime, _pingpongTimeRandomPercent);
         _pingpongLastSwitch = now;
         
         // Apply new state
@@ -224,8 +262,9 @@ void MotorController::updatePingpong() {
         _direction = _pingpongDirection;
         applyMotorState();
         
-        Serial.printf("Pingpong switch: dir=%d, speed=%d%%, next_time=%dms\n",
-                      _pingpongDirection, _pingpongCurrentSpeed, _pingpongCurrentTime);
+        Serial.printf("Pingpong switch: dir=%d, speed=%d%%, next_time=%dms, stallReturn=%s\n",
+                      _pingpongDirection, _pingpongCurrentSpeed, _pingpongCurrentTime,
+                      _pingpongUseStallReturn ? "true" : "false");
     }
 }
 
diff --git a/src/webserver.cpp b/src/webserver.cpp
index c044c2c..9370251 100644
--- a/src/webserver.cpp
+++ b/src/webserver.cpp
@@ -199,8 +199,8 @@ const char index_html[] PROGMEM = R"rawliteral(
         
         <div class="slider-container">
             <label>Speed</label>
-            <div class="speed-value"><span id="speedValue">0</span>%</div>
-            <input type="range" class="slider" id="speedSlider" min="0" max="100" value="0">
+            <div class="speed-value"><span id="speedValue">20</span>%</div>
+            <input type="range" class="slider" id="speedSlider" min="20" max="100" value="20">
         </div>
         
         <div class="buttons">
@@ -220,7 +220,7 @@ const char index_html[] PROGMEM = R"rawliteral(
                 <label>Speed</label>
                 <span class="value"><span id="ppSpeedVal">50</span>%</span>
             </div>
-            <input type="range" class="setting-slider" id="ppSpeed" min="10" max="100" value="50">
+            <input type="range" class="setting-slider" id="ppSpeed" min="20" max="100" value="50">
             
             <div class="setting-row" style="margin-top:15px;">
                 <label>Time before return</label>
@@ -239,6 +239,12 @@ const char index_html[] PROGMEM = R"rawliteral(
                 <span class="value"><span id="ppTimeRandVal">0</span>%</span>
             </div>
             <input type="range" class="setting-slider" id="ppTimeRand" min="0" max="50" value="0">
+            
+            <div class="setting-row" style="margin-top:15px;">
+                <label for="ppStallReturn">Return on stall only</label>
+                <input type="checkbox" id="ppStallReturn" style="width:25px;height:25px;">
+            </div>
+            <small style="color:#888;display:block;margin-top:5px;">When enabled, direction switches only after stall detection (time randomness disabled)</small>
         </div>
         
         <div class="buttons">
@@ -263,6 +269,16 @@ const char index_html[] PROGMEM = R"rawliteral(
         const ppSpeedRandVal = document.getElementById('ppSpeedRandVal');
         const ppTimeRandVal = document.getElementById('ppTimeRandVal');
         const ppStatus = document.getElementById('pingpongStatus');
+        const ppStallReturn = document.getElementById('ppStallReturn');
+        
+        // Disable time randomness when stall return is checked
+        ppStallReturn.onchange = function() {
+            ppTimeRand.disabled = this.checked;
+            if (this.checked) {
+                ppTimeRand.value = 0;
+                ppTimeRandVal.textContent = '0';
+            }
+        };
         
         slider.oninput = function() {
             speedVal.textContent = this.value;
@@ -289,8 +305,7 @@ const char index_html[] PROGMEM = R"rawliteral(
         
         function stopMotor() {
             currentDir = 0;
-            slider.value = 0;
-            speedVal.textContent = '0';
+            // Don't reset slider - keep last speed
             fetch('/stop')
                 .then(r => r.text())
                 .then(() => updateStatus());
@@ -301,7 +316,8 @@ const char index_html[] PROGMEM = R"rawliteral(
                 speed: ppSpeed.value,
                 time: ppTime.value,
                 speedRand: ppSpeedRand.value,
-                timeRand: ppTimeRand.value
+                timeRand: ppStallReturn.checked ? 0 : ppTimeRand.value,
+                stallReturn: ppStallReturn.checked ? 1 : 0
             });
             fetch('/pingpong/start?' + params)
                 .then(r => r.text())
@@ -324,8 +340,12 @@ const char index_html[] PROGMEM = R"rawliteral(
             fetch('/status')
                 .then(r => r.json())
                 .then(data => {
-                    slider.value = data.speed;
-                    speedVal.textContent = data.speed;
+                    // Only update speed display if motor is running (direction != 0)
+                    // When stopped, keep the last speed setting
+                    if (data.direction != 0) {
+                        slider.value = data.speed;
+                        speedVal.textContent = data.speed;
+                    }
                     currentDir = data.direction;
                     updateStatus();
                     
@@ -356,6 +376,8 @@ const char index_html[] PROGMEM = R"rawliteral(
                         ppSpeedRandVal.textContent = data.ppSpeedRand;
                         ppTimeRand.value = data.ppTimeRand;
                         ppTimeRandVal.textContent = data.ppTimeRand;
+                        ppStallReturn.checked = data.ppStallReturn;
+                        ppTimeRand.disabled = data.ppStallReturn;
                     } else {
                         ppStatus.textContent = 'INACTIVE';
                         ppStatus.classList.remove('active');
@@ -411,7 +433,8 @@ void handleStatus() {
                   ",\"ppSpeed\":" + String(motor.getPingpongSpeed()) +
                   ",\"ppTime\":" + String(motor.getPingpongTime()) +
                   ",\"ppSpeedRand\":" + String(motor.getPingpongSpeedRandom()) +
-                  ",\"ppTimeRand\":" + String(motor.getPingpongTimeRandom()) + "}";
+                  ",\"ppTimeRand\":" + String(motor.getPingpongTimeRandom()) +
+                  ",\"ppStallReturn\":" + (motor.getPingpongStallReturn() ? "true" : "false") + "}";
     server.send(200, "application/json", json);
 }
 
@@ -420,6 +443,7 @@ void handlePingpongStart() {
     int time = 2000;
     int speedRand = 0;
     int timeRand = 0;
+    bool stallReturn = false;
     
     if (server.hasArg("speed")) {
         speed = server.arg("speed").toInt();
@@ -433,8 +457,11 @@ void handlePingpongStart() {
     if (server.hasArg("timeRand")) {
         timeRand = server.arg("timeRand").toInt();
     }
+    if (server.hasArg("stallReturn")) {
+        stallReturn = server.arg("stallReturn").toInt() != 0;
+    }
     
-    motor.startPingpong(speed, time, speedRand, timeRand);
+    motor.startPingpong(speed, time, speedRand, timeRand, stallReturn);
     server.send(200, "text/plain", "OK");
 }