+
+static uint8_t strat_harvest(void)
+{
+ return 0;
+}
+
+static uint8_t strat_eject(void)
+{
+ trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
+ err = wait_traj_end(END_INTR|END_TRAJ);
+
+ DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
+ strat_hardstop();
+ strat_set_speed(600, SPEED_ANGLE_FAST);
+
+ /* ball ejection */
+ trajectory_a_abs(&mainboard.traj, COLOR_A(90));
+ i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
+ time_wait_ms(2000);
+
+ /* half turn */
+ 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);
+
+ return 0;
+}
+