diff --git a/Buttplug.Test/Client/ButtplugClientDeviceCommandTests.cs b/Buttplug.Test/Client/ButtplugClientDeviceCommandTests.cs
index 4f2559cb..5600d076 100644
--- a/Buttplug.Test/Client/ButtplugClientDeviceCommandTests.cs
+++ b/Buttplug.Test/Client/ButtplugClientDeviceCommandTests.cs
@@ -29,5 +29,49 @@ public void TestNonRotatePercentRejectsNegativeValue()
                 .Should()
                 .Throw<ButtplugDeviceException>();
         }
+        
+        [Test]
+        public void TestToStepValuePositive()
+        {
+            var p = PercentOrSteps.FromPercent(0.5);
+            Assert.AreEqual(50, p.ToStepValue(-100, 100));
+            
+            p = PercentOrSteps.FromPercent(1.0);
+            Assert.AreEqual(100, p.ToStepValue(-100, 100));
+
+            p = PercentOrSteps.FromPercent(0.0);
+            Assert.AreEqual(0, p.ToStepValue(-100, 100));
+        }
+
+        [Test]
+        public void TestToStepValueNegative()
+        {
+            var p = PercentOrSteps.FromPercent(-0.5, -1.0);
+            // Math.Floor(-0.5 * -100 * -1) = Math.Floor(-0.5 * 100) = Math.Floor(-50) = -50
+            Assert.AreEqual(-50, p.ToStepValue(-100, 100));
+
+            p = PercentOrSteps.FromPercent(-1.0, -1.0);
+            Assert.AreEqual(-100, p.ToStepValue(-100, 100));
+        }
+
+        [Test]
+        public void TestToStepValueAsymmetric()
+        {
+            var p = PercentOrSteps.FromPercent(0.555);
+            Assert.AreEqual(56, p.ToStepValue(-10, 100));
+
+            p = PercentOrSteps.FromPercent(-0.555, -1.0);
+            Assert.AreEqual(-6, p.ToStepValue(-10, 100));
+        }
+
+        [Test]
+        public void TestToStepValueSteps()
+        {
+            var s = PercentOrSteps.FromSteps(42);
+            Assert.AreEqual(42, s.ToStepValue(-100, 100));
+            
+            s = PercentOrSteps.FromSteps(-42);
+            Assert.AreEqual(-42, s.ToStepValue(-100, 100));
+        }
     }
 }
diff --git a/Buttplug/Client/ButtplugClientDeviceCommand.cs b/Buttplug/Client/ButtplugClientDeviceCommand.cs
index 9b384310..6384a13a 100644
--- a/Buttplug/Client/ButtplugClientDeviceCommand.cs
+++ b/Buttplug/Client/ButtplugClientDeviceCommand.cs
@@ -62,14 +62,25 @@ public static PercentOrSteps FromPercent(double percent, double minPercent = 0.0
         /// <summary>
         /// Converts this value to an actual step value given a max step count.
         /// </summary>
+        /// <param name="minSteps">The maximum number of steps in the negative direction.</param>
         /// <param name="maxSteps">The maximum number of steps.</param>
         /// <returns>The calculated step value.</returns>
-        public int ToStepValue(int maxSteps)
+        public int ToStepValue(int minSteps, int maxSteps)
         {
             if (_steps.HasValue)
             {
                 return _steps.Value;
             }
+
+            if (!_percent.HasValue)
+            {
+                return 0;
+            }
+            
+            if (_percent.Value < 0)
+            {
+                return (int)Math.Floor(_percent.Value * minSteps * -1);
+            }
             return (int)Math.Ceiling(_percent.Value * maxSteps);
         }
     }
diff --git a/Buttplug/Client/ButtplugClientDeviceFeature.cs b/Buttplug/Client/ButtplugClientDeviceFeature.cs
index 1aa2988c..62d585e8 100644
--- a/Buttplug/Client/ButtplugClientDeviceFeature.cs
+++ b/Buttplug/Client/ButtplugClientDeviceFeature.cs
@@ -108,14 +108,16 @@ public async Task RunOutputAsync(DeviceOutputCommand command, CancellationToken
 
             // Get the output definition to determine step range
             var outputDef = FeatureDefinition.GetOutput(command.OutputType);
+            int minSteps = (command.OutputType == OutputType.Rotate) ? -100 : 0; // Default if not specified
             int maxSteps = 100; // Default if not specified
             if (outputDef?.Value != null && outputDef.Value.Length >= 2)
             {
+                minSteps = outputDef.Value[0];
                 maxSteps = outputDef.Value[1];
             }
 
             // Convert to actual step value
-            int actualValue = command.Value.ToStepValue(maxSteps);
+            int actualValue = command.Value.ToStepValue(minSteps, maxSteps);
 
             OutputCmd cmd;
             if (command.OutputType == OutputType.HwPositionWithDuration)