diff --git a/turret.cpp b/turret.cpp
index bf4c705..665833d 100644
--- a/turret.cpp
+++ b/turret.cpp
@@ -1,5 +1,6 @@
 #include "turret.h"
 #include "Arduino.h"
+#include "math.h"
 #include "maths.h"
 #include <kissStepper.h>
 
@@ -138,9 +139,19 @@ Turret &Turret::moveTo(double x, double y, double z, Unit unit) {
     angleToStep(_step_ratio, vec2<double>(degToRad(x), degToRad(y)), step);
   }
 
-  // TODO min(valueI, -_homeI);
-  _stepper.x.prepareMove(_zero.x + step.x);
-  _stepper.y.prepareMove(_zero.y + step.y);
+  long maxDeltaStepX = _step_ratio.x * M_PI_2;
+  long maxDeltaStepY = _step_ratio.y * M_PI_2;
+
+  // force move from -90° to 90° avoiding backside,
+  // if move > 180° skip the full turn a start at -90°,
+  // same in the other direction
+  long stepX = constrain(step.x % maxDeltaStepX, -(maxDeltaStepX >> 2),
+                         (maxDeltaStepX >> 2));
+  long stepY = constrain(step.y % maxDeltaStepY, -(maxDeltaStepY >> 2),
+                         (maxDeltaStepY >> 2));
+
+  _stepper.x.prepareMove(_zero.x + stepX);
+  _stepper.y.prepareMove(_zero.y + stepY);
 
   bool xStop = false;
   bool yStop = false;