diff --git a/buildhat/motors.py b/buildhat/motors.py
index f3a996c..54de6e8 100644
--- a/buildhat/motors.py
+++ b/buildhat/motors.py
@@ -19,6 +19,7 @@ def __init__(self, port):
         self._default_speed = 20
         self.plimit(0.7)
         self.bias(0.3)
+        self.current_freerun_speed = 0
 
     def set_default_speed(self, default_speed):
         """Sets the default speed of the motor
@@ -34,11 +35,16 @@ def start(self, speed=None):
 
         :param speed: Speed ranging from -100 to 100
         """
+        if self.current_freerun_speed == speed:
+            # Already running at this speed, do nothing
+       	    return
+
         if speed is None:
             speed = self._default_speed
         else:
             if not (speed >= -100 and speed <= 100):
                 raise MotorException("Invalid Speed")
+        self.current_freerun_speed = speed
         cmd = "port {} ; pwm ; set {}\r".format(self.port, speed/100)
         self._write(cmd)
 
@@ -46,6 +52,7 @@ def stop(self):
         """Stops motor"""
         cmd = "port {} ; off\r".format(self.port)
         self._write(cmd)
+        self.current_freerun_speed = 0
 
     def plimit(self, plimit):
         if not (plimit >= 0 and plimit <= 1):
@@ -57,6 +64,13 @@ def bias(self, bias):
             raise MotorException("bias should be 0 to 1")
         self._write("port {} ; bias {}\r".format(self.port, bias))
 
+
+class MotorRunmode(Enum):
+    NONE = 0
+    FREE = 1
+    DEGREES = 2
+    SECONDS = 3
+
 class Motor(Device):
     """Motor device
 
@@ -67,6 +81,7 @@ class Motor(Device):
     def __init__(self, port):
         super().__init__(port)
         self.default_speed = 20
+        self.current_freerun_speed = 0
         self.mode([(1,0),(2,0),(3,0)])
         self.plimit(0.7)
         self.bias(0.3)
@@ -75,6 +90,7 @@ def __init__(self, port):
         self._cvqueue = Condition()
         self.when_rotated = None
         self._oldpos = None
+        self.runmode = MotorRunmode.NONE
 
     def set_default_speed(self, default_speed):
         """Sets the default speed of the motor
@@ -91,6 +107,7 @@ def run_for_rotations(self, rotations, speed=None, blocking=True):
         :param rotations: Number of rotations
         :param speed: Speed ranging from -100 to 100
         """
+        self.runmode = MotorRunmode.DEGREES
         if speed is None:
             self.run_for_degrees(int(rotations * 360), self.default_speed, blocking)
         else:
@@ -99,6 +116,7 @@ def run_for_rotations(self, rotations, speed=None, blocking=True):
             self.run_for_degrees(int(rotations * 360), speed, blocking)
 
     def _run_for_degrees(self, degrees, speed):
+        self.runmode = MotorRunmode.DEGREES
         mul = 1
         if speed < 0:
             speed = abs(speed)
@@ -116,8 +134,10 @@ def _run_for_degrees(self, degrees, speed):
         if self._release:
             time.sleep(0.2)
             self.coast()
+        self.runmode = MotorRunmode.NONE
 
     def _run_to_position(self, degrees, speed, direction):
+        self.runmode = MotorRunmode.DEGREES
         data = self.get()
         pos = data[1]
         apos = data[2]
@@ -148,6 +168,7 @@ def _run_to_position(self, degrees, speed, direction):
         if self._release:
             time.sleep(0.2)
             self.coast()
+        self.runmode = MotorRunmode.NONE
 
     def run_for_degrees(self, degrees, speed=None, blocking=True):
         """Runs motor for N degrees
@@ -157,6 +178,7 @@ def run_for_degrees(self, degrees, speed=None, blocking=True):
         :param degrees: Number of degrees to rotate
         :param speed: Speed ranging from -100 to 100
         """
+        self.runmode = MotorRunmode.DEGREES
         if speed is None:
             speed = self.default_speed
         if not (speed >= -100 and speed <= 100):
@@ -174,6 +196,7 @@ def run_to_position(self, degrees, speed=None, blocking=True, direction="shortes
         :param degrees: Position in degrees
         :param speed: Speed ranging from 0 to 100
         """
+        self.runmode = MotorRunmode.DEGREES
         if speed is None:
             speed = self.default_speed
         if not (speed >= 0 and speed <= 100):
@@ -188,12 +211,14 @@ def run_to_position(self, degrees, speed=None, blocking=True, direction="shortes
             self._run_to_position(degrees, speed, direction)
 
     def _run_for_seconds(self, seconds, speed):
+        self.runmode = MotorRunmode.SECONDS
         cmd = "port {} ; combi 0 1 0 2 0 3 0 ; select 0 ; pid {} 0 0 s1 1 0 0.003 0.01 0 100; set pulse {} 0.0 {} 0\r".format(self.port, self.port, speed, seconds);
         self._write(cmd);
         with self._hat.pulsecond[self.port]:
             self._hat.pulsecond[self.port].wait()
         if self._release:
             self.coast()
+        self.runmode = MotorRunmode.NONE
 
     def run_for_seconds(self, seconds, speed=None, blocking=True):
         """Runs motor for N seconds
@@ -201,6 +226,7 @@ def run_for_seconds(self, seconds, speed=None, blocking=True):
         :param seconds: Time in seconds
         :param speed: Speed ranging from -100 to 100
         """
+        self.runmode = MotorRunmode.SECONDS
         if speed is None:
             speed = self.default_speed
         if not (speed >= -100 and speed <= 100):
@@ -217,16 +243,31 @@ def start(self, speed=None):
 
         :param speed: Speed ranging from -100 to 100
         """
+        if self.runmode == MotorRunmode.FREE:
+            if self.current_freerun_speed == speed:
+                # Already running at this speed, do nothing
+                return
+        elif self.runmode != MotorRunmode.NONE:
+       	    # Motor is running some other mode, wait for it to stop or stop() it yourself
+       	    return
+
         if speed is None:
             speed = self.default_speed
         else:
             if not (speed >= -100 and speed <= 100):
                 raise MotorException("Invalid Speed")
-        cmd = "port {} ; combi 0 1 0 2 0 3 0 ; select 0 ; pid {} 0 0 s1 1 0 0.003 0.01 0 100; set {}\r".format(self.port, self.port, speed)
+        cmd = "port {} ; set {}\r".format(self.port, speed)
+        if self.runmode == MotorRunmode.NONE:
+            cmd = "port {} ; combi 0 1 0 2 0 3 0 ; select 0 ; pid {} 0 0 s1 1 0 0.003 0.01 0 100; set {}\r".format(self.port, self.port, speed)
+        self.runmode = MotorRunmode.FREE
+        self.current_freerun_speed = speed
         self._write(cmd)
 
+
     def stop(self):
         """Stops motor"""
+        self.runmode = MotorRunmode.NONE
+        self.current_freerun_speed = 0
         self.coast()
 
     def get_position(self):