DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
strat_hardstop();
+#ifdef HOST_VERSION
time_wait_ms(2000);
+#else
+ WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_BUSY,
+ 2000);
+ WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_READY,
+ 2000);
+#endif
/* half turn */
trajectory_a_rel(&mainboard.traj, COLOR_A(180));