+ uint8_t err;
+
+ strat_set_acc(ACC_DIST, ACC_ANGLE);
+#ifdef HOST_VERSION
+ strat_set_speed(600, SPEED_ANGLE_FAST);
+#else
+ /* 250 */
+ strat_set_speed(250, SPEED_ANGLE_FAST);
+#endif
+
+
+ // strat_set_speed(600, 60); /* OK */
+ strat_set_speed(250, 28); /* OK */
+
+ trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(20));
+ err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
+ TRAJ_FLAGS_STD);
+
+ strat_set_acc(ACC_DIST, ACC_ANGLE);
+
+#if 1
+ l1:
+ if (get_cob_count() >= 5)
+ strat_set_speed(600, SPEED_ANGLE_FAST);
+
+ err = line2line(LINE_UP, 0, LINE_R_DOWN, 2);
+ if (!TRAJ_SUCCESS(err)) {
+ trajectory_hardstop(&mainboard.traj);
+ time_wait_ms(2000);
+ goto l1;
+ }
+
+ l2:
+ if (get_cob_count() >= 5)
+ strat_set_speed(600, SPEED_ANGLE_FAST);
+
+ err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 2);
+ if (!TRAJ_SUCCESS(err)) {
+ trajectory_hardstop(&mainboard.traj);
+ time_wait_ms(2000);
+ goto l2;
+ }
+
+ l3:
+ if (get_cob_count() >= 5)
+ strat_set_speed(600, SPEED_ANGLE_FAST);
+
+ err = line2line(LINE_R_UP, 2, LINE_UP, 5);
+ if (!TRAJ_SUCCESS(err)) {
+ trajectory_hardstop(&mainboard.traj);
+ time_wait_ms(2000);
+ goto l3;
+ }
+#else
+ strat_set_speed(600, SPEED_ANGLE_FAST);
+ err = line2line(LINE_UP, 0, LINE_R_DOWN, 3);
+ err = line2line(LINE_R_DOWN, 3, LINE_R_UP, 2);
+ err = line2line(LINE_R_UP, 2, LINE_R_DOWN, 2);
+ err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 3);
+ err = line2line(LINE_R_UP, 3, LINE_UP, 5);
+ err = line2line(LINE_UP, 5, LINE_L_DOWN, 2);
+ err = line2line(LINE_L_DOWN, 2, LINE_L_UP, 1);
+ err = line2line(LINE_L_UP, 1, LINE_L_DOWN, 1);
+ err = line2line(LINE_L_DOWN, 1, LINE_DOWN, 0);
+ wait_ms(500);
+ trajectory_hardstop(&mainboard.traj);
+ return END_TRAJ;
+#endif
+
+ trajectory_hardstop(&mainboard.traj);
+
+ /* ball ejection */
+ trajectory_a_abs(&mainboard.traj, COLOR_A(90));
+ i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
+ time_wait_ms(2000);
+
+ /* half turn */
+ trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
+ err = wait_traj_end(END_INTR|END_TRAJ);
+ i2c_cobboard_pack(I2C_LEFT_SIDE);
+ i2c_cobboard_pack(I2C_RIGHT_SIDE);
+ trajectory_a_rel(&mainboard.traj, COLOR_A(180));
+ err = wait_traj_end(END_INTR|END_TRAJ);
+
+ /* cob ejection */
+ trajectory_d_rel(&mainboard.traj, -100);
+ err = wait_traj_end(END_INTR|END_TRAJ);
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
+ time_wait_ms(2000);
+
+ trajectory_hardstop(&mainboard.traj);