diff --git a/examples/vernie/android_remote.py b/examples/vernie/android_remote.py
index 1ec4be4..dcc463e 100644
--- a/examples/vernie/android_remote.py
+++ b/examples/vernie/android_remote.py
@@ -85,7 +85,7 @@ try:
         sa = round(c + b / divider, 1)
         sb = round(c - b / divider, 1)
         logging.info("SpeedA=%s, SpeedB=%s", sa, sb)
-        robot.motor_AB.start_power(sa, sb)
+        robot.motor_AB.start_speed(sa, sb)
         # time.sleep(0.5)
 finally:
     robot.motor_AB.stop()
diff --git a/pylgbst/peripherals.py b/pylgbst/peripherals.py
index b0db421..cfa1cf7 100644
--- a/pylgbst/peripherals.py
+++ b/pylgbst/peripherals.py
@@ -240,8 +240,8 @@ class LEDRGB(Peripheral):
 
 
 class Motor(Peripheral):
-    SUBCMD_START_POWER = 0x01
-    # SUBCMD_START_POWER = 0x02
+    SUBCMD_START_POWER = 0x00
+    SUBCMD_START_POWER_GROUPED = 0x03
     SUBCMD_SET_ACC_TIME = 0x05
     SUBCMD_SET_DEC_TIME = 0x06
     SUBCMD_START_SPEED = 0x07
@@ -271,9 +271,6 @@ class Motor(Peripheral):
         return int(absolute)
 
     def _write_direct_mode(self, subcmd, params):
-        if self.virtual_ports:
-            subcmd += 1  # de-facto rule
-
         params = pack("<B", subcmd) + params
         msg = MsgPortOutput(self.port, MsgPortOutput.WRITE_DIRECT_MODE_DATA, params)
         self._send_output(msg)
@@ -292,15 +289,20 @@ class Motor(Peripheral):
         if power_secondary is None:
             power_secondary = power_primary
 
+        if self.virtual_ports:
+            cmd = self.SUBCMD_START_POWER_GROUPED
+        else:
+            cmd = self.SUBCMD_START_POWER
+
         params = b""
         params += pack("<b", self._speed_abs(power_primary))
         if self.virtual_ports:
             params += pack("<b", self._speed_abs(power_secondary))
 
-        self._write_direct_mode(self.SUBCMD_START_POWER, params)
+        self._write_direct_mode(cmd, params)
 
     def stop(self):
-        self.start_speed(0)
+        self.timed(0)
 
     def set_acc_profile(self, seconds, profile_no=0x00):
         """
diff --git a/tests/__init__.py b/tests/__init__.py
index ed42602..4b6b936 100644
--- a/tests/__init__.py
+++ b/tests/__init__.py
@@ -1,3 +1,4 @@
+import sys
 import time
 from binascii import unhexlify
 
@@ -5,7 +6,7 @@ from pylgbst.comms import Connection
 from pylgbst.hub import MoveHub, Hub
 from pylgbst.peripherals import *
 
-logging.basicConfig(level=logging.DEBUG)
+logging.basicConfig(level=logging.DEBUG if 'pydevd' in sys.modules else logging.INFO)
 
 log = logging.getLogger('test')
 
diff --git a/tests/test_peripherals.py b/tests/test_peripherals.py
index 60fba02..126d13a 100644
--- a/tests/test_peripherals.py
+++ b/tests/test_peripherals.py
@@ -151,7 +151,7 @@ class PeripheralsTest(unittest.TestCase):
 
         hub.connection.notification_delayed('050082030a', 0.1)
         motor.start_power(1.0)
-        self.assertEqual(b"0800810311510164", hub.writes.pop(1)[1])
+        self.assertEqual(b"0800810311510064", hub.writes.pop(1)[1])
 
         hub.connection.notification_delayed('050082030a', 0.1)
         motor.stop()