set speed after turn to 400

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;
 }
 

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 {