/* ball ejection */
if (get_ball_count() > 0) {
i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
+ time_wait_ms(300);
trajectory_a_abs(&mainboard.traj, COLOR_A(70));
err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
if (!TRAJ_SUCCESS(err))
2000);
#endif
}
+ else {
+ /* to pack spickles */
+ time_wait_ms(300);
+ }
if (get_cob_count() > 0) {
/* half turn */
strat_hardstop();
i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_TAKE_FORK);
- time_wait_ms(1800);
+ time_wait_ms(1100);
+
+ trajectory_d_rel(&mainboard.traj, 15);
+ time_wait_ms(400);
+ strat_hardstop();
+ time_wait_ms(200);
/* reach top, go down */
trajectory_d_rel(&mainboard.traj, -HILL_LEN);