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Yes, there is a way, but your engine has to be able to idle low without oscillating (like mine does below 800). You've got to take idle control away from your ECU. This consists of getting the idle air control valve to a position you like and pulling its plug. The way I did this on my car was to introduce a vacuum leak through the brake booster, allow the ECU to compensate, and pulling the IAC valve's wiring harness. Mine's a stepper motor so it froze in place. Others are PWM driven solenoids which returned to a closed position when the harness is pulled. On those, you have to pull the plug and somehow introduce a regulated vacuum leak to keep the engine from dying.
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