diff --git a/Inc/config.h b/Inc/config.h
index 821e917..6740b30 100644
--- a/Inc/config.h
+++ b/Inc/config.h
@@ -15,7 +15,7 @@
 #define PWM_FREQ         16000      // PWM frequency in Hz
 #define DEAD_TIME        32         // PWM deadtime
 
-#define DC_CUR_LIMIT     35         // Motor DC current limit in amps
+#define DC_CUR_LIMIT     25         // Motor DC current limit in amps
 
 #define BAT_LOW_LVL1     36.0       // gently beeps at this voltage level
 #define BAT_LOW_LVL2     33.0       // your battery is almost empty. Charge now!
@@ -54,6 +54,19 @@
 // #define SPEED_COEFFICIENT   -1
 // #define STEER_COEFFICIENT   0
 
+// #define ADDITIONAL_CODE \
+if (button1 && speedR < 300) { \
+  speedR = speedR * -0.2f;   \
+  speedL = speedL * -0.2f; } \
+else { \
+  direction = 1; } \
+if (button1 && speedR > 700) { /* field weakening at high speeds */ \
+  weakl = speedR - 600; /* weak should never exceed 400 or 450 MAX!! */ \
+  weakr = speedR - 600; } \
+else { \
+  weakl = 0; \
+  weakr = 0; }
+
 // ###### ARMCHAIR ######
 // #define FILTER              0.05
 // #define SPEED_COEFFICIENT   0.5
diff --git a/Makefile b/Makefile
index 41ba4e9..b71a8c7 100644
--- a/Makefile
+++ b/Makefile
@@ -162,6 +162,12 @@ format:
 clean:
 	-rm -fR .dep $(BUILD_DIR)
 
+flash:
+	st-flash --reset write $(BUILD_DIR)/$(TARGET).bin 0x8000000
+
+unlock:
+	openocd -f interface/stlink-v2.cfg -f target/stm32f1x.cfg -c init -c "reset halt" -c "stm32f1x unlock 0"
+
 #######################################
 # dependencies
 #######################################
diff --git a/Src/main.c b/Src/main.c
index a31d7da..052e5d2 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -139,7 +139,7 @@ int main(void) {
 
     #ifdef CONTROL_ADC
       cmd1 = CLAMP(adc_buffer.l_rx2 - 700, 0, 2350) / 2.35; // ADC values range 0-4095, however full range of our poti only covers 650 - 3050
-      //uint8_t button1 = (uint8_t)(adc_buffer.l_tx2 > 2000);
+      uint8_t button1 = (uint8_t)(adc_buffer.l_tx2 > 2000);
 
       timeout = 0;
     #endif
@@ -158,10 +158,15 @@ 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 < 50) {
       pwmr = speedR;
-      pwml = speedL;
+      pwml = -speedL;
     }
 
     lastSpeedL = speedL;
diff --git a/build/hover.hex b/build/hover.hex
index 513b02e..825959f 100644
--- a/build/hover.hex
+++ b/build/hover.hex
@@ -1,23 +1,23 @@
 :020000040800F2
-:1000000000C00020B5450008894500088D4500085E
-:10001000914500089545000899450008000000003A
-:100020000000000000000000000000009D450008E6
-:10003000A145000800000000A5450008A9450008EA
-:10004000FD450008FD450008FD450008FD45000888
-:10005000FD450008FD450008FD450008FD45000878
-:10006000FD450008FD450008FD450008F93D000874
-:10007000FD450008FD450008FD450008FD45000858
-:10008000FD450008FD450008FD450008FD45000848
-:10009000FD450008FD450008FD450008FD45000838
-:1000A000FD450008FD450008FD450008FD45000828
-:1000B000FD450008FD450008FD450008FD45000818
-:1000C000FD450008FD450008FD450008FD45000808
-:1000D000FD450008FD450008FD450008FD450008F8
-:1000E000FD450008FD450008FD450008FD450008E8
-:1000F000FD450008FD450008FD450008FD450008D8
-:10010000FD450008FD450008FD450008FD450008C7
-:10011000FD450008FD450008FD450008FD450008B7
-:10012000FD450008FD450008FD450008FD450008A7
+:1000000000C00020BD450008914500089545000846
+:10001000994500089D450008A14500080000000022
+:10002000000000000000000000000000A5450008DE
+:10003000A945000800000000AD450008B1450008D2
+:100040000546000805460008054600080546000864
+:100050000546000805460008054600080546000854
+:10006000054600080546000805460008013E000850
+:100070000546000805460008054600080546000834
+:100080000546000805460008054600080546000824
+:100090000546000805460008054600080546000814
+:1000A0000546000805460008054600080546000804
+:1000B00005460008054600080546000805460008F4
+:1000C00005460008054600080546000805460008E4
+:1000D00005460008054600080546000805460008D4
+:1000E00005460008054600080546000805460008C4
+:1000F00005460008054600080546000805460008B4
+:1001000005460008054600080546000805460008A3
+:100110000546000805460008054600080546000893
+:100120000546000805460008054600080546000883
 :1001300000000000000000000000000000000000BF
 :1001400000000000000000000000000000000000AF
 :10015000000000000000000000000000000000009F
@@ -36,10 +36,10 @@
 :10021800034B03B11847704788000020880000206E
 :100228000000000010B5064C237843B9FFF7D8FF4B
 :10023800044B13B10448AFF300800123237010BDB1
-:100248008800002000000000B04E000808B5084BE8
+:100248008800002000000000B84E000808B5084BE0
 :100258001BB108480849AFF300800848036813B980
 :10026800BDE80840CCE7064B002BF9D09847F7E7E4
-:1002780000000000B04E00088C000020880000201C
+:1002780000000000B84E00088C0000208800002014
 :100288000000000081F0004102E000BF83F000435D
 :1002980030B54FEA41044FEA430594EA050F08BF19
 :1002A80090EA020F1FBF54EA000C55EA020C7FEADD
@@ -314,7 +314,7 @@
 :10137800C2F3834306A90B4413F8103C12F4803FD0
 :101388000CD00B4A5268C2F340420A4412F8140CBB
 :10139800084AB2FBF0F003FB00F004E0064800FB4B
-:1013A80003F000E0034806B030BC7047C84E0008A0
+:1013A80003F000E0034806B030BC7047D04E000898
 :1013B8000010024000127A0000093D0070B55C4B35
 :1013C8001B6803F007038B420BD2594A136823F0BA
 :1013D80007030B431360136803F007038B4240F0C5
@@ -339,12 +339,12 @@
 :10150800D8400E4B1860002000F062FD002070BD2E
 :10151800012070BD012070BD012070BD012070BD8B
 :10152800032070BD032070BD032070BD012070BD75
-:101538000020024000100240DC4E0008000000209D
+:101538000020024000100240E44E00080000002095
 :10154800014B1868704700BF0000002008B5FFF77E
 :10155800F7FF044B5B68C3F30223034AD35CD8400C
-:1015680008BD00BF00100240EC4E000808B5FFF7A8
+:1015680008BD00BF00100240F44E000808B5FFF7A0
 :10157800E7FF044B5B68C3F3C223034AD35CD8403C
-:1015880008BD00BF00100240EC4E000830B4036AEA
+:1015880008BD00BF00100240F44E000830B4036AE2
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 :1015A8000D682A4323F002038D682B43104DA8428F
 :1015B80003D005F50065A84205D123F00803CD68DE
@@ -927,7 +927,7 @@
 :1039C80000308009FEF740F90420FEF753F94FF064
 :1039D800FF3021462246FEF7F9F817B030BD00BF88
 :1039E800D34D6210000000002DE9F04F85B0FEF7BE
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 :103A180000210A46FEF7DAF86FF00A0000210A468C
 :103A2800FEF7D4F86FF0090000210A46FEF7CEF839
@@ -936,348 +936,349 @@
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