- trajectory_clitoid(&mainboard.traj, l1.p1.x, l1.p1.y,
- line1_a_deg, 150., diff_a_deg, beta_deg,
- radius, xy_norm(l1.p1.x, l1.p1.y,
- p.x, p.y));
- if (0) {
- err = 0;
- while (err == 0) {
- err = WAIT_COND_OR_TRAJ_END(handle_spickles(), 0xFF);
- if (err == 0) {
- /* cobboard is stucked */
- trajectory_hardstop(&mainboard.traj);
- return err; /* XXX do something */
- }
- err = test_traj_end(0xFF);
- }
+ /* XXX check return value !! */
+ ret = trajectory_clitoid(&mainboard.traj, l1.p1.x, l1.p1.y,
+ line1_a_deg, 150., diff_a_deg, beta_deg,
+ radius, xy_norm(l1.p1.x, l1.p1.y,
+ p.x, p.y));
+ if (ret < 0)
+ DEBUG(E_USER_STRAT, "clitoid failed");
+
+ /* XXX what to do if cobboard is stucked */
+
+ err = WAIT_COND_OR_TRAJ_END(clitoid_started(), 0xFF);
+ DEBUG(E_USER_STRAT, "clitoid started err=%d diff_a_deg_abs=%2.2f diff_a_deg=%2.2f",
+ err, diff_a_deg_abs, diff_a_deg);
+
+ /* when clitoid starts and angle is 60 deg, pack external
+ * spickle */
+ if (diff_a_deg_abs < 70. && err == 0) {
+ if (diff_a_deg > 0)
+ strat_rpack60 = 1;
+ else
+ strat_lpack60 = 1;