diff --git a/src/common/base_classes/StepperDriver.h b/src/common/base_classes/StepperDriver.h
index 9864b235..49910179 100644
--- a/src/common/base_classes/StepperDriver.h
+++ b/src/common/base_classes/StepperDriver.h
@@ -6,6 +6,8 @@
 
 class StepperDriver: public FOCDriver{
     public:
+        float Ua; //!< currently set phase A voltage
+        float Ub; //!< currently set phase B voltage
         
         /** 
          * Set phase voltages to the hardware 
diff --git a/src/current_sense/LowsideCurrentSense.cpp b/src/current_sense/LowsideCurrentSense.cpp
index a0026ae3..dc5896ec 100644
--- a/src/current_sense/LowsideCurrentSense.cpp
+++ b/src/current_sense/LowsideCurrentSense.cpp
@@ -91,5 +91,12 @@ PhaseCurrent_s LowsideCurrentSense::getPhaseCurrents(){
     current.a = (!_isset(pinA)) ? 0 : (_readADCVoltageLowSide(pinA, params) - offset_ia)*gain_a;// amps
     current.b = (!_isset(pinB)) ? 0 : (_readADCVoltageLowSide(pinB, params) - offset_ib)*gain_b;// amps
     current.c = (!_isset(pinC)) ? 0 : (_readADCVoltageLowSide(pinC, params) - offset_ic)*gain_c; // amps
+
+    if (driver_type == DriverType::Stepper){
+        static StepperDriver* stepper_driver = static_cast<StepperDriver*>(driver);
+        current.a *= _sign(stepper_driver->Ua);
+        current.b *= _sign(stepper_driver->Ub);
+    }
+
     return current;
 }
diff --git a/src/drivers/StepperDriver2PWM.cpp b/src/drivers/StepperDriver2PWM.cpp
index e8ccc6c6..ebbfed4f 100644
--- a/src/drivers/StepperDriver2PWM.cpp
+++ b/src/drivers/StepperDriver2PWM.cpp
@@ -94,7 +94,9 @@ void StepperDriver2PWM::setPhaseState(PhaseState sa, PhaseState sb) {
 }
 
 // Set voltage to the pwm pin
-void StepperDriver2PWM::setPwm(float Ua, float Ub) {
+void StepperDriver2PWM::setPwm(float Ua_, float Ub_) {
+  Ua = Ua_;
+  Ub = Ub_;
   float duty_cycle1(0.0f),duty_cycle2(0.0f);
   // limit the voltage in driver
   Ua = _constrain(Ua, -voltage_limit, voltage_limit);
diff --git a/src/drivers/StepperDriver4PWM.cpp b/src/drivers/StepperDriver4PWM.cpp
index 52f1c1d1..34bae8fb 100644
--- a/src/drivers/StepperDriver4PWM.cpp
+++ b/src/drivers/StepperDriver4PWM.cpp
@@ -70,21 +70,23 @@ void StepperDriver4PWM::setPhaseState(PhaseState sa, PhaseState sb) {
 
 
 // Set voltage to the pwm pin
-void StepperDriver4PWM::setPwm(float Ualpha, float Ubeta) {
+void StepperDriver4PWM::setPwm(float Ua_, float Ub_) {
+  Ua = Ua_;
+  Ub = Ub_;
   float duty_cycle1A(0.0f),duty_cycle1B(0.0f),duty_cycle2A(0.0f),duty_cycle2B(0.0f);
   // limit the voltage in driver
-  Ualpha = _constrain(Ualpha, -voltage_limit, voltage_limit);
-  Ubeta = _constrain(Ubeta, -voltage_limit, voltage_limit);
+  Ua = _constrain(Ua, -voltage_limit, voltage_limit);
+  Ub = _constrain(Ub, -voltage_limit, voltage_limit);
   // hardware specific writing
-  if( Ualpha > 0 )
-    duty_cycle1B = _constrain(abs(Ualpha)/voltage_power_supply,0.0f,1.0f);
+  if( Ua > 0 )
+    duty_cycle1B = _constrain(abs(Ua)/voltage_power_supply,0.0f,1.0f);
   else
-    duty_cycle1A = _constrain(abs(Ualpha)/voltage_power_supply,0.0f,1.0f);
+    duty_cycle1A = _constrain(abs(Ua)/voltage_power_supply,0.0f,1.0f);
 
-  if( Ubeta > 0 )
-    duty_cycle2B = _constrain(abs(Ubeta)/voltage_power_supply,0.0f,1.0f);
+  if( Ub > 0 )
+    duty_cycle2B = _constrain(abs(Ub)/voltage_power_supply,0.0f,1.0f);
   else
-    duty_cycle2A = _constrain(abs(Ubeta)/voltage_power_supply,0.0f,1.0f);
+    duty_cycle2A = _constrain(abs(Ub)/voltage_power_supply,0.0f,1.0f);
   // write to hardware
   _writeDutyCycle4PWM(duty_cycle1A, duty_cycle1B, duty_cycle2A, duty_cycle2B, params);
 }
\ No newline at end of file