diff --git a/controller/mixercontroller_w5100_pio/src/main.cpp b/controller/mixercontroller_w5100_pio/src/main.cpp
index 266621e..4254b4e 100644
--- a/controller/mixercontroller_w5100_pio/src/main.cpp
+++ b/controller/mixercontroller_w5100_pio/src/main.cpp
@@ -135,10 +135,12 @@ long last_motorcheck=0;
 //long last_motorTooSlow=0; //typically 0
 
 float motorP=2.0;
-float motorI=0.05;
+float motorI=0.2;
 float motorD=1;
 float potidifference_integral=0;
-#define MOTORI_ANTIWINDUP 100 //maximum value for (potidifference_integral*motorI). time depends on INTERVAL_MOTORCHECK
+//#define MOTORI_ANTIWINDUP 100 //maximum value for (potidifference_integral*motorI). time depends on INTERVAL_MOTORCHECK
+#define MOTOR_ANTIWINDUP
+#define MOTOR_ANTIWINDUP_RANGE 200 //0 to 1024
 //Motor starts moving at about speed=80
 
 long last_potidifferenceLow=0;
@@ -402,8 +404,16 @@ void loop() {
     }else{ //not reached position
       _motormove=0; //negative: move left, positive: move right. abs value: speed. 0 <= abs(_motormove) <= 255
 
+
       potidifference_integral+=potidifference*motorI;
-      potidifference_integral=constrain(potidifference_integral,-MOTORI_ANTIWINDUP,MOTORI_ANTIWINDUP); //constrain
+
+      #ifdef MOTOR_ANTIWINDUP
+      if (abs(potidifference)>MOTOR_ANTIWINDUP_RANGE) { //outside integral range
+        potidifference_integral=0; //reset
+      }
+      #endif
+
+      //potidifference_integral=constrain(potidifference_integral,-MOTORI_ANTIWINDUP,MOTORI_ANTIWINDUP); //constrain
       _motormove=potidifference*motorP + potidifference_integral + motorD*(last_potidifference-potidifference);
       motorspeed=constrain(abs(_motormove), 0,MAX_MOTOR_PWM);