+ int16_t x, y;
+ uint8_t i, j;
+ uint16_t old_dspeed, old_aspeed;
+ uint8_t err;
+
+ DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
+
+ strat_want_pack = 1;
+ strat_get_speed(&old_dspeed, &old_aspeed);
+
+ strat_hardstop();
+ strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW);
+ x = position_get_x_s16(&mainboard.pos);
+ y = position_get_y_s16(&mainboard.pos);
+ if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0) {
+ /* aie... go to center... but it's really a bad
+ * idea */
+ x = CENTER_X;
+ y = CENTER_Y;
+ }
+
+ /* XXX if opponent is too close, go back, or wait ? */
+
+ /* go to nearest waypoint */
+ trajectory_goto_xy_abs(&mainboard.traj, x, y);
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ if (err == END_TIMER)
+ return err;
+
+ if (!TRAJ_SUCCESS(err))
+ return err;
+
+ strat_set_speed(old_dspeed, old_aspeed);
+ strat_want_pack = 0;