bad code
Revert "bad code"

This reverts commit 92bf05bf7f5eea85f7a3b69b3708d13a0aff3497.
Revert "Revert "bad code""

This reverts commit 8fce873b5bf149bfe7f40af65c191d3ec9ee8b0d.
Revert "bad code"

This reverts commit 92bf05bf7f5eea85f7a3b69b3708d13a0aff3497.
IGNORE ALL THAT SAY BAD CODE, EVEN IF YOU WANT TO SEE SOMETHING BAD.

Acceleration with increased control. No idea if it works because the
other team messed up the commits.
stupid github