diff --git a/nippleremote_firmware/nippleremote_firmware.ino b/nippleremote_firmware/nippleremote_firmware.ino
index 775aad9..bed0824 100644
--- a/nippleremote_firmware/nippleremote_firmware.ino
+++ b/nippleremote_firmware/nippleremote_firmware.ino
@@ -59,7 +59,7 @@ struct nrfdata {
 };
 
 long last_sendNRF=0;
-#define NRFSEND_DELAY 10 //ms
+#define NRFSEND_DELAY 20 //ms
 
 #define PIN_TOUCH 5
 long last_touch=0;
@@ -107,6 +107,8 @@ long led_nextswitch=0;
 long time_lastactivity=0;
 #define ACTIVITYMOVEMENT 5//Stick movement for activity recognition
 
+boolean touching=false;
+
 int voltage=4000;
 #define VOLTAGE_WARN 3400
 /*
@@ -329,10 +331,18 @@ void loop() {
     last_touch=millis();
   }
 
-  boolean touching=false;
-  if(millis()-last_touch <= TOUCH_TIMEOUT){
-    touching=true;
-    motorenabled=true;
+  
+  if(millis()-last_touch <= TOUCH_TIMEOUT){ //is touched
+    if (!touching && setupmode!=SETUP_DONE) { //was false, is touching again (and not during setup_done wait)
+      Serial.println("touching was false");
+      if (last_xin==0 && last_yin==0) { //stick at center position
+        touching=true; //enable only if stick is at center again
+        motorenabled=true;
+        Serial.println("touching reactivated");
+      }
+    }else{
+      motorenabled=true;
+    }
   }else{
     touching=false;
     motorenabled=false;
@@ -403,6 +413,9 @@ void loop() {
       }
     break;
     case SETUP_DONE:
+      touching=false;
+      motorenabled=false;
+      Serial.println("touching set false");
       if (millis()>setupmode_waitstarttime+SETUP_DONE_TIME){
         setupmode=SETUP_NONE; //return to control mode, allows enabling motors
       }
@@ -421,9 +434,14 @@ void loop() {
           led_ton=1000; //blink slowly regulary
           led_toff=1000;
         }
-      }else{
-        led_ton=0; //off
-        led_toff=500;
+      }else{ //not connected
+        if (touching){ //=touching
+          led_ton=5; //short flash
+          led_toff=200;
+        }else{
+          led_ton=0; //off
+          led_toff=500;
+        }
       }
       if (voltage<=VOLTAGE_WARN){
         led_ton=25; //flash on fast