+ else {
+ /* no cob near us, we can pack or deploy freely */
+ if (get_cob_count() >= 5 || strat_want_pack || strat_lpack60)
+ i2c_cobboard_pack_weak(I2C_LEFT_SIDE);
+ else
+ i2c_cobboard_deploy(I2C_LEFT_SIDE);
+ }
+
+ /* control the cobboard mode for right spickle */
+ if (rcob_near && strat_db.corn_table[ridx]->present) {
+ if (get_cob_count() >= 5 || strat_want_pack || strat_rpack60) {
+ /* nothing */
+ }
+ else {
+ /* deploy spickle and harvest white ones */
+ if (strat_db.corn_table[ridx]->corn.color == I2C_COB_WHITE) {
+ i2c_cobboard_autoharvest_nomove(I2C_RIGHT_SIDE);
+ if (cobboard.status == I2C_COBBOARD_STATUS_RBUSY)
+ strat_db.corn_table[ridx]->present = 0;
+ }
+ else
+ i2c_cobboard_deploy_nomove(I2C_RIGHT_SIDE);
+ }
+ }
+ else {
+ /* no cob near us, we can pack or deploy freely */
+ if (get_cob_count() >= 5 || strat_want_pack || strat_rpack60)
+ i2c_cobboard_pack_weak(I2C_RIGHT_SIDE);
+ else
+ i2c_cobboard_deploy(I2C_RIGHT_SIDE);
+ }
+}
+
+/* called periodically (10ms) */
+void strat_event(void *dummy)
+{
+ /* ignore when strat is not running */
+ if (strat_running == 0)
+ return;
+
+ check_tomato();
+ check_corn();
+ /* limit speed when opponent is near */
+ //strat_limit_speed();
+}
+
+/* check that we are on an eject line */
+static uint8_t robot_is_on_eject_line(void)
+{
+ int16_t x, y;
+ uint8_t i, j;
+
+ x = position_get_x_s16(&mainboard.pos);
+ y = position_get_y_s16(&mainboard.pos);
+
+ if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
+ return 0;
+
+ if (!wp_belongs_to_line(i, j, 5, LINE_UP) &&
+ !wp_belongs_to_line(i, j, 2, LINE_R_UP))
+ return 0;
+
+ return 1;
+}
+
+/* must be called from a terminal line */
+static uint8_t strat_eject(void)
+{
+ uint8_t err;
+
+ DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
+
+ if (!robot_is_on_eject_line()) {
+ DEBUG(E_USER_STRAT, "%s() not on eject line", __FUNCTION__);
+ return END_ERROR;
+ }
+
+ /* go to eject point */
+ trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
+ err = WAIT_COND_OR_TRAJ_END(get_cob_count() >= 5,
+ TRAJ_FLAGS_NO_NEAR);
+ if (err != 0 && !TRAJ_SUCCESS(err))
+ return err;
+
+ strat_want_pack = 1;
+ if (err == 0) {
+ strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ }
+
+ /* pack arms */
+ strat_event_disable();
+ i2c_cobboard_pack_weak(I2C_LEFT_SIDE);
+ i2c_cobboard_pack_weak(I2C_RIGHT_SIDE);
+
+ /* ball ejection */
+ if (get_ball_count() > 0) {
+ i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
+ trajectory_a_abs(&mainboard.traj, COLOR_A(70));
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ if (!TRAJ_SUCCESS(err))
+ goto fail;
+
+ 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);