diff --git a/controller_teensy/include/definitions.h b/controller_teensy/include/definitions.h
index e1fb9e2..2c8bdf6 100644
--- a/controller_teensy/include/definitions.h
+++ b/controller_teensy/include/definitions.h
@@ -95,7 +95,7 @@ bool error_sdfile_unavailable=false;
 
 
 #define NORMAL_MAX_ACCELERATION_RATE 10000
-#define SLOW_MAX_ACCELERATION_RATE 500
+#define SLOW_MAX_ACCELERATION_RATE 250
 int16_t max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE; //maximum cmd send increase per second
 
 
diff --git a/controller_teensy/src/main.cpp b/controller_teensy/src/main.cpp
index ef9e149..a0384d5 100644
--- a/controller_teensy/src/main.cpp
+++ b/controller_teensy/src/main.cpp
@@ -520,7 +520,7 @@ void calculateSetSpeed(unsigned long timediff){
   }
 
   //acceleration
-  cmd_send += constrain(adjusted_throttle_pos-cmd_send,0,(int16_t)(max_acceleration_rate*(timediff/1000.0)) ); //if throttle higher than last applied value, apply throttle directly
+  cmd_send += constrain(adjusted_throttle_pos-cmd_send,0,(int16_t)(max_acceleration_rate*(timediff/1000.0)) ); //if throttle higher than last applied value, apply throttle directly with rate limit
 
   cmd_send=constrain(cmd_send,0,throttle_max);
 
@@ -603,12 +603,15 @@ void readButtons() {
       if (control_buttonA) { //button A is held down during start button press
         throttle_max=1000;
         reverse_speed=0.25;
+        max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE;
       }else if (control_buttonB) { //button B is held down during start button press
         throttle_max=750;
         reverse_speed=0.25;
+        max_acceleration_rate=SLOW_MAX_ACCELERATION_RATE;
       }else { //no control button pressed during start
         throttle_max=250;
         reverse_speed=0.15;
+        max_acceleration_rate=SLOW_MAX_ACCELERATION_RATE;
       }
 
     }else{