From 949b936ed6e7935a34fd5f69caa57f9a2235cd8a Mon Sep 17 00:00:00 2001
From: Simon Frei <simon-frei@hotmail.com>
Date: Fri, 23 Dec 2022 12:51:50 +0100
Subject: [PATCH] set speed after turn to 400

---
 ADIS_Sumo/Sumo/Application.c | 10 +++++++---
 ADIS_Sumo/Sumo/Turn.c        |  2 +-
 2 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/ADIS_Sumo/Sumo/Application.c b/ADIS_Sumo/Sumo/Application.c
index b192c34..bcb2f98 100644
--- a/ADIS_Sumo/Sumo/Application.c
+++ b/ADIS_Sumo/Sumo/Application.c
@@ -406,7 +406,12 @@ static void StateMachine(bool buttonPress) {
     		presentCnt = MAZE_GetPresentCount();
     		//publish
     		BUZ_Beep(1000, 1000);
-    		McuShell_SendStr((unsigned char*)"mqtt publish \"/mobile/status/present/\" \"true\"\r\n", McuESP32_GetTxToESPStdio()->stdOut);
+    		unsigned char payload[50] = "mqtt publish \"/mobile/status/present/\" \"";
+    		unsigned char number[4] = "";
+    		McuUtility_Num8uToStr(number, sizeof(number), presentCnt);
+    		McuUtility_strcat(payload, sizeof(payload), number);
+    		McuUtility_strcat(payload, sizeof(payload), (unsigned char*)"\"\r\n");
+    		McuShell_SendStr(payload, McuESP32_GetTxToESPStdio()->stdOut);
 //    		McuShell_SendStr((unsigned char*)"\r\n", McuESP32_GetTxToESPStdio()->stdOut);
     	}
     	vTaskDelay(pdMS_TO_TICKS(10));
@@ -512,8 +517,7 @@ static uint8_t AutoCalibrateReflectance(void) {
 
 static uint8_t SetManualMode(){
 	appState = APP_STATE_MANUAL_MOVE;
-	McuShell_SendStr((unsigned char*)"mqtt publish \"/mobile/status/mode/\" \"MANUAL\"", McuESP32_GetTxToESPStdio()->stdOut);
-	McuShell_SendStr((unsigned char*)"\r\n", McuESP32_GetTxToESPStdio()->stdOut);
+	McuShell_SendStr((unsigned char*)"mqtt publish \"/mobile/status/mode/\" \"MANUAL\"\r\n", McuESP32_GetTxToESPStdio()->stdOut);
 	return ERR_OK;
 }
 
diff --git a/ADIS_Sumo/Sumo/Turn.c b/ADIS_Sumo/Sumo/Turn.c
index 966ce2b..196809b 100644
--- a/ADIS_Sumo/Sumo/Turn.c
+++ b/ADIS_Sumo/Sumo/Turn.c
@@ -575,7 +575,7 @@ uint8_t TURN_ParseCommand(const unsigned char *cmd, bool *handled, const McuShel
     if (McuUtility_xatoi(&p, &angle)==ERR_OK) {
       TURN_TurnAngle((int16_t)angle, NULL);
       TURN_Turn(TURN_STOP, NULL);
-      DRV_SetSpeed(100, 100);
+      DRV_SetSpeed(400, 400);
       DRV_SetMode(DRV_MODE_SPEED);
       *handled = TRUE;
     } else {