From 206f67631a4c75974abc5a41fdbf78fee3182838 Mon Sep 17 00:00:00 2001
From: Niklas Fauth <niklasfauth@gmx.de>
Date: Tue, 8 May 2018 13:06:10 +0200
Subject: [PATCH] ADD: example code for turbo boost

---
 Inc/config.h    |  9 +++++++++
 Src/main.c      | 10 +++++-----
 build/hover.hex |  4 ++--
 3 files changed, 16 insertions(+), 7 deletions(-)

diff --git a/Inc/config.h b/Inc/config.h
index cad47e8..aee27c1 100644
--- a/Inc/config.h
+++ b/Inc/config.h
@@ -42,6 +42,15 @@
 #define SPEED_COEFFICIENT   0.5
 #define STEER_COEFFICIENT   0.5
 
+//Turno boost at high speeds while button1 is pressed:
+//#define ADDITIONAL_CODE \
+if (button1 && speed > 700) { /* field weakening at high speeds */ \
+  weakl = cmd1 - 700; /* weak should never exceed 400 or 450 MAX!! */ \
+  weakr = cmd1 - 700; } \
+else { \
+  weakl = 0; \
+  weakr = 0; }
+
 // ###### BOBBYCAR ######
 // #define FILTER              0.1
 // #define SPEED_COEFFICIENT   -1
diff --git a/Src/main.c b/Src/main.c
index 0bfc254..b67fa4a 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -141,6 +141,11 @@ int main(void) {
       timeout = 0;
     #endif
 
+    // ####### ADDITIONAL CODE #######
+    #ifdef ADDITIONAL_CODE
+    ADDITIONAL_CODE;
+    #endif
+
     // ####### LOW-PASS FILTER #######
     steer = steer * (1.0 - FILTER) + cmd1 * FILTER;
     speed = speed * (1.0 - FILTER) + cmd2 * FILTER;
@@ -155,11 +160,6 @@ int main(void) {
     setScopeChannel(2, (int)speedR);
     setScopeChannel(3, (int)speedL);
 
-    // ####### ADDITIONAL CODE #######
-    #ifdef ADDITIONAL_CODE
-    ADDITIONAL_CODE;
-    #endif
-
     // ####### SET OUTPUTS #######
     if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < TIMEOUT) {
       pwmr = speedR;
diff --git a/build/hover.hex b/build/hover.hex
index f7f0a1f..7d4026b 100644
--- a/build/hover.hex
+++ b/build/hover.hex
@@ -991,7 +991,7 @@
 :103DC800F7DD0D4820210022FEF76CF8FEE70023FE
 :103DD800054A1370054A137084E600BF18000020D6
 :103DE8000000104200000442CC000020B000002077
-:103DF8000000F041C400002000080140000000005D
+:103DF8000000F841C4000020000801400000000055
 :103E08000222854B5A60854B1B68B3F57A7F3ADAF4
 :103E18000133824A1360824A938899B281480368C1
 :103E28000B4403EBD3735B100360D38899B27E48CD
@@ -1028,7 +1028,7 @@
 :104018007B14AE47E17A943F00000240AC000020D8
 :10402800680200200C000020080000201400002076
 :10403800100000201C00002020000020D4000020D8
-:104048001F85EB5118000020000039C000003940DE
+:104048001F85EB511800002000002EC000002E40F4
 :1040580004000020C400002000340140002C01406E
 :10406800914A536C43F40043536490498B6813F0AE
 :10407800200F0CBF012200228B6813F0400F0CBFE9