- struct cmd_test_result *res = parsed_result;
- double d,a;
- uint8_t err;
-
- strat_reset_pos(1000, 500, 0);
- strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW);
- circle_get_da_speed_from_radius(&mainboard.traj, res->radius, &d, &a);
- trajectory_d_rel(&mainboard.traj, 1000);
- err = WAIT_COND_OR_TRAJ_END(position_get_x_double(&mainboard.pos) > 1500, 0xFF);
- if (err)
- return;
- strat_set_speed(d, a);
- trajectory_d_a_rel(&mainboard.traj, 10000, 1000);
+ trajectory_line_abs(&mainboard.traj, 0, 1050,
+ 1500, 1050, 100.);