X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat.c;h=a5a952c71620e60d0a0cfce0b6e6808202abc4c9;hp=3f54716cc0294d6a6743f373fdb058f8a03c69f3;hb=4e7801883ed4076cb14b63a0571467747894c0f8;hpb=5918edd6f4f713ef3c8b0b0020dd30a4fb8222ae;ds=sidebyside

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index 3f54716..a5a952c 100644
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -1,6 +1,6 @@
-/*  
+/*
  *  Copyright Droids, Microb Technology (2009)
- * 
+ *
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
  *  the Free Software Foundation; either version 2 of the License, or
@@ -17,7 +17,7 @@
  *
  *  Revision : $Id: strat.c,v 1.6 2009-11-08 17:24:33 zer0 Exp $
  *
- *  Olivier MATZ <zer0@droids-corp.org> 
+ *  Olivier MATZ <zer0@droids-corp.org>
  */
 
 #include <stdio.h>
@@ -33,7 +33,7 @@
 #include <ax12.h>
 #include <uart.h>
 #include <pwm_ng.h>
-#include <time.h>
+#include <clock_time.h>
 #include <spi.h>
 
 #include <pid.h>
@@ -57,7 +57,9 @@
 #include "i2c_protocol.h"
 #include "main.h"
 #include "strat.h"
+#include "strat_db.h"
 #include "strat_base.h"
+#include "strat_corn.h"
 #include "strat_utils.h"
 #include "sensor.h"
 #include "actuator.h"
@@ -65,183 +67,7 @@
 #define COL_DISP_MARGIN 400 /* stop 40 cm in front of dispenser */
 #define COL_SCAN_PRE_MARGIN 250
 
-
-#ifdef TEST_BEACON
-
-#define BEACON_MAX_SAMPLES 100
-struct beacon_sample {
-	int16_t posx;
-	int16_t posy;
-	int16_t posa;
-	int16_t oppx;
-	int16_t oppy;
-	uint8_t time;
-};
-
-static struct beacon_sample beacon_sample[BEACON_MAX_SAMPLES];
-static uint8_t beacon_prev_time = 0;
-static uint8_t beacon_cur_idx = 0;
-
-static void beacon_update_samples(void)
-{
-	int16_t opp_a, opp_d, opp_x, opp_y;
-	int8_t err;
-	uint8_t time;
-
-	time = time_get_s();
-
-	/* one sample per second max */
-	if (time <= beacon_prev_time)
-		return;
-	/* limit max number of samples */
-	if (beacon_cur_idx >= BEACON_MAX_SAMPLES)
-		return;
-
-	memset(&beacon_sample[beacon_cur_idx], 0, sizeof(beacon_sample[beacon_cur_idx]));
-	beacon_prev_time = time;
-	beacon_sample[beacon_cur_idx].time = time;
-	
-	/* get opponent pos; if not found, just set struct to 0 */
-	err = get_opponent_xyda(&opp_x, &opp_y, &opp_d, &opp_a);
-	if (err == -1)
-		return;
-
-	beacon_sample[beacon_cur_idx].posx = position_get_x_s16(&mainboard.pos);
-	beacon_sample[beacon_cur_idx].posy = position_get_y_s16(&mainboard.pos);
-	beacon_sample[beacon_cur_idx].posa = position_get_a_deg_s16(&mainboard.pos);
-	beacon_sample[beacon_cur_idx].oppx = opp_x;
-	beacon_sample[beacon_cur_idx].oppy = opp_y;
-	beacon_cur_idx++;
-}
-
-void beacon_dump_samples(void)
-{
-	uint16_t i;
-
-	for (i=0; i<BEACON_MAX_SAMPLES; i++) {
-		printf_P(PSTR("%d: pos=(%d,%d,%d) opp=(%d,%d) time=%d\r\n"),
-			 i,
-			 beacon_sample[i].posx,
-			 beacon_sample[i].posy,
-			 beacon_sample[i].posa,
-			 beacon_sample[i].oppx,
-			 beacon_sample[i].oppy,
-			 beacon_sample[i].time);
-	}
-}
-#endif
-
-struct strat_infos strat_infos = {
-	/* conf */
-	.conf = {
-		.flags = 0,
-		/* scanner disabled by default */
-		.scan_opp_min_time = 90,
-		.delay_between_opp_scan = 90,
-		.scan_our_min_time = 90,
-		.delay_between_our_scan = 90,
-		.wait_opponent = 0,
-		.lintel_min_time = 0,
-		.scan_opp_angle = -1,
-	},
-
-	/* static columns */
-	.s_cols = { 
-		.flags = 0, 
-		.configuration = 0,
-	},
-
-	/* column dispensers ; be carreful, positions are
-	 * color-dependent, so COLOR_Y() and COLOR_A() should be
-	 * used. All angles here are _absolute_ */
-	.c1 = {
-		.checkpoint_x = 2711 - COL_SCAN_PRE_MARGIN,
-		.checkpoint_y = AREA_Y - COL_DISP_MARGIN,
-		.scan_left = 0,
-		.scan_a = 180,
-		.eject_a = 180,
-		.recalib_x = 2711,
-		.recalib_y = AREA_Y - (ROBOT_LENGTH/2 + DIST_BACK_DISPENSER),
-		.pickup_a = 90,
-		.name = "col_disp1",
-	},
-	.c2 = {
-		.checkpoint_x = AREA_X - COL_DISP_MARGIN,
-		.checkpoint_y = 800 - COL_SCAN_PRE_MARGIN,
-		.scan_left = 1,
-		.scan_a = -90,
-		.eject_a = -90,
-		.recalib_x = AREA_X - (ROBOT_LENGTH/2 + DIST_BACK_DISPENSER),
-		.recalib_y = 800,
-		.pickup_a = 0,
-		.name = "col_disp2",
-	},
-	.c3 = {
-		.checkpoint_x = AREA_X-COL_DISP_MARGIN,
-		.checkpoint_y = 1300 + COL_SCAN_PRE_MARGIN,
-		.scan_a = 90,
-		.scan_left = 0,
-		.eject_a = -90,
-		.recalib_x = AREA_X - (ROBOT_LENGTH/2 + DIST_BACK_DISPENSER),
-		.recalib_y = 1300,
-		.pickup_a = 0,
-		.name = "col_disp3",
-	},
-	
-	/* lintel dispensers */
-	.l1 = {
-		.x = 912, /* XXX for red only */
-		.name = "lin_disp1",
-	},
-	.l2 = {
-		.x = 1312,  /* XXX for red only */
-		.name = "lin_disp2",
-	},
-
-	/* build zones */
-	.zone_list = {
-#define ZONE_DISC_NUM 0
-		{
-			.flags = ZONE_F_VALID | ZONE_F_DISC,
-			.level = 2,
-			.checkpoint_x = 0,
-			.checkpoint_x = 0,
-			.name = "disc",
-		},
-#define ZONE_1A_NUM 1
-		{
-			.flags = ZONE_F_VALID,
-			.level = 1,
-			.checkpoint_x = 1385,
-			.checkpoint_y = 1700,
-			.name = "z1a",
-		},
-#define ZONE_1B_NUM 2
-		{
-			.flags = ZONE_F_VALID,
-			.level = 1,
-			.checkpoint_x = 1615,
-			.checkpoint_y = 1700,
-			.name = "z1b",
-		},
-#define ZONE_0B_NUM 3
-		{
-			.flags = ZONE_F_VALID,
-			.level = 0,
-			.checkpoint_x = 2100,
-			.checkpoint_y = 1700,
-			.name = "z0b",
-		},
-#define ZONE_0A_NUM 4
-		{
-			.flags = ZONE_F_VALID,
-			.level = 0,
-			.checkpoint_x = 900,
-			.checkpoint_y = 1700,
-			.name = "z0a",
-		},
-	}
-};
+struct strat_conf strat_conf;
 
 /*************************************************************/
 
@@ -249,27 +75,6 @@ struct strat_infos strat_infos = {
 
 /*************************************************************/
 
-void strat_set_bounding_box(void)
-{
-	if (get_color() == I2C_COLOR_RED) {
-		strat_infos.area_bbox.x1 = 300;
-		strat_infos.area_bbox.y1 = 200;
-		strat_infos.area_bbox.x2 = 2720; /* needed for c1 */
-		strat_infos.area_bbox.y2 = 1800;
-	}
-	else {
-		strat_infos.area_bbox.x1 = 200;
-		strat_infos.area_bbox.y1 = 300;
-		strat_infos.area_bbox.x2 = 2720; /* needed for c1 */
-		strat_infos.area_bbox.y2 = 1900;
-	}
-
-	polygon_set_boundingbox(strat_infos.area_bbox.x1,
-				strat_infos.area_bbox.y1,
-				strat_infos.area_bbox.x2,
-				strat_infos.area_bbox.y2);
-}
-
 /* called before each strat, and before the start switch */
 void strat_preinit(void)
 {
@@ -278,286 +83,26 @@ void strat_preinit(void)
 	mainboard.flags =  DO_ENCODERS | DO_CS | DO_RS |
 		DO_POS | DO_BD | DO_POWER;
 
-	i2c_mechboard_mode_init();
-	if (get_color() == I2C_COLOR_RED)
-		i2c_mechboard_mode_prepare_pickup(I2C_LEFT_SIDE);
-	else
-		i2c_mechboard_mode_prepare_pickup(I2C_RIGHT_SIDE);
-
-	strat_dump_conf();
-	strat_dump_infos(__FUNCTION__);
+	//i2c_cobboard_mode_init();
+	strat_conf_dump(__FUNCTION__);
+	strat_db_dump(__FUNCTION__);
 }
 
-void strat_dump_conf(void)
+void strat_conf_dump(const char *caller)
 {
-	if (!strat_infos.dump_enabled)
+	if (!strat_conf.dump_enabled)
 		return;
 
 	printf_P(PSTR("-- conf --\r\n"));
 
-	printf_P(PSTR("  one build on disc: "));
-	if (strat_infos.conf.flags & STRAT_CONF_ONLY_ONE_ON_DISC)
-		printf_P(PSTR("on\r\n"));
-	else
-		printf_P(PSTR("off\r\n"));
-
-	printf_P(PSTR("  bypass static2: "));
-	if (strat_infos.conf.flags & STRAT_CONF_BYPASS_STATIC2)
-		printf_P(PSTR("on\r\n"));
-	else
-		printf_P(PSTR("off\r\n"));
-
-	printf_P(PSTR("  take one lintel: "));
-	if (strat_infos.conf.flags & STRAT_CONF_TAKE_ONE_LINTEL)
-		printf_P(PSTR("on\r\n"));
-	else
-		printf_P(PSTR("off\r\n"));
-
-	printf_P(PSTR("  skip this temple when temple check fails: "));
-	if (strat_infos.conf.flags & STRAT_CONF_SKIP_WHEN_CHECK_FAILS)
-		printf_P(PSTR("on\r\n"));
-	else
-		printf_P(PSTR("off\r\n"));
-
-	printf_P(PSTR("  store static2: "));
-	if (strat_infos.conf.flags & STRAT_CONF_STORE_STATIC2)
-		printf_P(PSTR("on\r\n"));
-	else
-		printf_P(PSTR("off\r\n"));
-
-	printf_P(PSTR("  (big3) try to build a temple with 3 lintels: "));
-	if (strat_infos.conf.flags & STRAT_CONF_BIG_3_TEMPLE)
-		printf_P(PSTR("on\r\n"));
-	else
-		printf_P(PSTR("off\r\n"));
-
-	printf_P(PSTR("  early opponent scan: "));
-	if (strat_infos.conf.flags & STRAT_CONF_EARLY_SCAN)
-		printf_P(PSTR("on\r\n"));
-	else
-		printf_P(PSTR("off\r\n"));
-
-	printf_P(PSTR("  push opponent columns: "));
-	if (strat_infos.conf.flags & STRAT_CONF_PUSH_OPP_COLS)
-		printf_P(PSTR("on\r\n"));
-	else
-		printf_P(PSTR("off\r\n"));
-
-	printf_P(PSTR("  scan opponent min time: %d\r\n"),
-		 strat_infos.conf.scan_opp_min_time);
-	printf_P(PSTR("  delay between oppnent scan: %d\r\n"),
-		 strat_infos.conf.delay_between_opp_scan);
-	printf_P(PSTR("  scan our min time: %d\r\n"),
-		 strat_infos.conf.scan_our_min_time);
-	printf_P(PSTR("  delay between our scan: %d\r\n"),
-		 strat_infos.conf.delay_between_our_scan);
-	printf_P(PSTR("  wait opponent gone before scan: %d\r\n"),
-		 strat_infos.conf.wait_opponent);
-	printf_P(PSTR("  lintel min time: %d\r\n"),
-		 strat_infos.conf.lintel_min_time);
-	printf_P(PSTR("  scan_opp_angle: %d\r\n"),
-		 strat_infos.conf.scan_opp_angle);
-}
-
-void strat_dump_temple(struct temple *temple)
-{
-	if (!strat_infos.dump_enabled)
-		return;
-
-	printf_P(PSTR("  temple %p (%s): "), temple, temple->zone->name);
-
-	if (temple->flags & TEMPLE_F_MONOCOL)
-		printf_P(PSTR("MONOCOL "));
-	else
-		printf_P(PSTR("BICOL "));
-
-	if (temple->flags & TEMPLE_F_ON_DISC)
-		printf_P(PSTR("ON_DISC "));
-	else
-		printf_P(PSTR("ON_ZONE_0_1 "));
-	
-	if (temple->flags & TEMPLE_F_OPPONENT)
-		printf_P(PSTR("OPPONENT "));
-	else
-		printf_P(PSTR("OURS "));
-
-	if (temple->flags & TEMPLE_F_LINTEL)
-		printf_P(PSTR("LIN_ON_TOP "));
-	else
-		printf_P(PSTR("COL_ON_TOP "));
-
-	printf_P(PSTR("\r\n"));
-
-	printf_P(PSTR("   pos=(%d,%d,%d) ckpt=(%d,%d) ltime=%d\r\n"),
-		 temple->x, temple->y, temple->a,
-		 temple->checkpoint_x, temple->checkpoint_y,
-		 temple->last_try_time);
-	printf_P(PSTR("   L: lev=%d da=%d,%d\r\n"),
-		 temple->level_l, temple->dist_l, temple->angle_l);
-	printf_P(PSTR("   R: lev=%d da=%d,%d\r\n"),
-		 temple->level_l, temple->dist_l, temple->angle_l);
-}
-
-void strat_dump_zone(struct build_zone *zone)
-{
-	if (!strat_infos.dump_enabled)
-		return;
-
-	printf_P(PSTR("  zone %s: "), zone->name);
-
-	if (zone->flags & ZONE_F_DISC)
-		printf_P(PSTR("DISC "));
-	else if (zone->flags & ZONE_F_ZONE1)
-		printf_P(PSTR("ZONE1 "));
-	else if (zone->flags & ZONE_F_ZONE0)
-		printf_P(PSTR("ZONE0 "));
-
-	if (zone->flags & ZONE_F_BUSY)
-		printf_P(PSTR("BUSY "));
-	else
-		printf_P(PSTR("FREE "));
-	
-	printf_P(PSTR("\r\n"));
-
-	printf_P(PSTR("    lev=%d ckpt=(%d,%d) ltime=%d\r\n"),
-		 zone->level,
-		 zone->checkpoint_x, zone->checkpoint_y,
-		 zone->last_try_time);
-}
-
-void strat_dump_static_cols(void)
-{
-	if (!strat_infos.dump_enabled)
-		return;
-
-	printf_P(PSTR("  static cols: l0=%d l1=%d l2=%d\r\n"),
-		 strat_infos.s_cols.flags & STATIC_COL_LINE0_DONE,
-		 strat_infos.s_cols.flags & STATIC_COL_LINE1_DONE,
-		 strat_infos.s_cols.flags & STATIC_COL_LINE2_DONE);
-}
-
-void strat_dump_col_disp(void)
-{
-	if (!strat_infos.dump_enabled)
-		return;
-
-	printf_P(PSTR("  c1 cnt=%d ltt=%d\r\n"),
-		 strat_infos.c1.count, strat_infos.c1.last_try_time);
-	printf_P(PSTR("  c2 cnt=%d ltt=%d\r\n"),
-		 strat_infos.c2.count, strat_infos.c2.last_try_time);
-	printf_P(PSTR("  c3 cnt=%d ltt=%d\r\n"),
-		 strat_infos.c3.count, strat_infos.c3.last_try_time);
-}
-
-void strat_dump_lin_disp(void)
-{
-	if (!strat_infos.dump_enabled)
-		return;
-	printf_P(PSTR("  l1 cnt=%d ltt=%d\r\n"),
-		 strat_infos.l1.count, strat_infos.l1.last_try_time);
-	printf_P(PSTR("  l2 cnt=%d ltt=%d\r\n"),
-		 strat_infos.l2.count, strat_infos.l2.last_try_time);
-
-}
-
-void strat_dump_all_temples(void)
-{
-	struct temple *temple;
-	uint8_t i;
-
-	if (!strat_infos.dump_enabled)
-		return;
-
-	for (i=0; i<MAX_TEMPLE; i++) {
-		temple = &strat_infos.temple_list[i];
-		if (!(temple->flags & TEMPLE_F_VALID))
-			continue;
-		strat_dump_temple(temple);
-	}
-}
-
-void strat_dump_all_zones(void)
-{
-	struct build_zone *zone;
-	uint8_t i;
-
-	if (!strat_infos.dump_enabled)
-		return;
-
-	for (i=0; i<MAX_ZONE; i++) {
-		zone = &strat_infos.zone_list[i];
-		if (!(zone->flags & ZONE_F_VALID))
-			continue;
-		strat_dump_zone(zone);
-	}
-}
-
-/* display current information about the state of the game */
-void strat_dump_infos(const char *caller)
-{
-	if (!strat_infos.dump_enabled)
-		return;
-
-	printf_P(PSTR("%s() dump strat infos:\r\n"), caller);
-	strat_dump_static_cols();
-	strat_dump_col_disp();
-	strat_dump_lin_disp();
-	strat_dump_all_temples();
-	strat_dump_all_zones();
-}
-
-/* init current area state before a match. Dump update user conf
- * here */
-void strat_reset_infos(void)
-{
-	uint8_t i;
-
-	/* /!\ don't do a big memset() as there is static data */
-	strat_infos.s_cols.flags = 0;
-	strat_infos.c1.count = 5;
-	strat_infos.c1.last_try_time = 0;
-	strat_infos.c2.count = 5;
-	strat_infos.c2.last_try_time = 0;
-	strat_infos.c3.count = 5;
-	strat_infos.c3.last_try_time = 0;
-	strat_infos.l1.count = 1;
-	strat_infos.l1.last_try_time = 0;
-	strat_infos.l2.count = 1;
-	strat_infos.l2.last_try_time = 0;
-
-	strat_infos.taken_lintel = 0;
-	strat_infos.col_in_boobs = 0;
-	strat_infos.lazy_pickup_done = 0;
-	strat_infos.i2c_loaded_skipped = 0;
-	
-	memset(strat_infos.temple_list, 0, sizeof(strat_infos.temple_list));
-
-	for (i=0; i<MAX_ZONE; i++)
-		strat_infos.zone_list[i].flags = ZONE_F_VALID;
-	strat_infos.zone_list[ZONE_DISC_NUM].flags |= ZONE_F_DISC;
-	strat_infos.zone_list[ZONE_1A_NUM].flags |= ZONE_F_ZONE1;
-	strat_infos.zone_list[ZONE_1B_NUM].flags |= ZONE_F_ZONE1;
-	strat_infos.zone_list[ZONE_0A_NUM].flags |= ZONE_F_ZONE0;
-	strat_infos.zone_list[ZONE_0B_NUM].flags |= ZONE_F_ZONE0;
-
-	strat_set_bounding_box();
-
-	/* set lintel position, depending on color */
-	if (mainboard.our_color == I2C_COLOR_RED) {
-		strat_infos.l1.x = 912;
-		strat_infos.l2.x = 1312;
-	}
-	else {
-		strat_infos.l1.x = 888;
-		strat_infos.l2.x = 1288;
-	}
 }
 
 /* call it just before launching the strat */
 void strat_init(void)
 {
-	pickup_wheels_on();
-	strat_reset_infos();
+	/* XXX init rollers, .. */
+
+	strat_db_init();
 
 	/* we consider that the color is correctly set */
 
@@ -565,113 +110,107 @@ void strat_init(void)
 	time_reset();
 	interrupt_traj_reset();
 
+	i2c_cobboard_mode_harvest(I2C_LEFT_SIDE);
+	i2c_cobboard_mode_harvest(I2C_RIGHT_SIDE);
+	i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
+
 	/* used in strat_base for END_TIMER */
-	mainboard.flags = DO_ENCODERS | DO_CS | DO_RS | 
+	mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
 		DO_POS | DO_BD | DO_TIMER | DO_POWER;
-
-#ifdef TEST_BEACON
-	beacon_prev_time = 0;
-	beacon_cur_idx = 0;
-#endif
 }
 
 
 /* call it after each strat */
 void strat_exit(void)
 {
+#ifndef HOST_VERSION
 	uint8_t flags;
+#endif
 
-	pickup_wheels_off();
 	mainboard.flags &= ~(DO_TIMER);
 	strat_hardstop();
 	time_reset();
-	wait_ms(1000);
+	wait_ms(100);
+#ifndef HOST_VERSION
 	IRQ_LOCK(flags);
 	mainboard.flags &= ~(DO_CS);
+	IRQ_UNLOCK(flags);
 	pwm_ng_set(LEFT_PWM, 0);
 	pwm_ng_set(RIGHT_PWM, 0);
-	IRQ_UNLOCK(flags);
+#endif
 }
 
 /* called periodically */
 void strat_event(void *dummy)
 {
+#if 0
+	/* pack or deploy spickle */
+	if (strat_infos.status.flags & STRAT_STATUS_LHARVEST) {
+		if (sensor_get(S_LCOB_PRESENT)) {
+			if (sensor_get(S_LCOB_WHITE))
+				i2c_ballboard_set_mode();
+			else
+				;
+		}
+	}
+#endif
 	/* limit speed when opponent is close */
 	strat_limit_speed();
-
-#ifdef TEST_BEACON
-	beacon_update_samples();
-#endif
 }
 
-/* do static cols + first temples */
 static uint8_t strat_beginning(void)
 {
 	uint8_t err;
 
-	/* don't limit the speed when opponent is near: it can change
-	 * the radius of the curves */
-	strat_limit_speed_disable();
-
-	err = strat_static_columns(0);
-
-	strat_limit_speed_enable();
+	strat_set_speed(250, SPEED_ANGLE_FAST);
 
-	if (!TRAJ_SUCCESS(err))
-		return err;
-
-	/* go to disc to build the first temple */
-
-	/* XXX if opponent is near disc, go to zone1 */
-	err = strat_goto_disc(2);
-	if (!TRAJ_SUCCESS(err))
-		return err;
-	DEBUG(E_USER_STRAT, "disc reached");
+ l1:
+	err = line2line(LINE_UP, 0, LINE_R_DOWN, 2);
+	if (!TRAJ_SUCCESS(err)) {
+		trajectory_hardstop(&mainboard.traj);
+		time_wait_ms(2000);
+		goto l1;
+	}
 
-	/* can return END_ERROR or END_TIMER, should not happen
-	 * here */
-	err = strat_build_new_temple(&strat_infos.zone_list[0]);
-	if (!TRAJ_SUCCESS(err))
-		return err;
+ l2:
+	err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 2);
+	if (!TRAJ_SUCCESS(err)) {
+		trajectory_hardstop(&mainboard.traj);
+		time_wait_ms(2000);
+		goto l2;
+	}
 
-	/* bypass static2 if specified */
-	if (strat_infos.conf.flags & STRAT_CONF_BYPASS_STATIC2) {
-		err = strat_escape(&strat_infos.zone_list[0], TRAJ_FLAGS_STD);
-		return err;
+ l3:
+	err = line2line(LINE_R_UP, 2, LINE_UP, 5);
+	if (!TRAJ_SUCCESS(err)) {
+		trajectory_hardstop(&mainboard.traj);
+		time_wait_ms(2000);
+		goto l3;
 	}
 
-	/* get the last 2 columns, and build them on previous temple */
-	err = strat_static_columns_pass2();
-	if (!TRAJ_SUCCESS(err))
-		return err;
+	trajectory_hardstop(&mainboard.traj);
 
-	/* early opponent scan, for offensive strategy */
-	if (strat_infos.conf.flags & STRAT_CONF_EARLY_SCAN) {
-		err = strat_pickup_lintels();
-		/* ignore code */
+	/* ball ejection */
+	trajectory_a_abs(&mainboard.traj, COLOR_A(90));
+	i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
+	time_wait_ms(2000);
 
-		/* try to build on opponent (scan must be enabled) */
-		err = strat_build_on_opponent_temple();
-		/* ignore code */
-	}
+	/* half turn */
+	trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
+	err = wait_traj_end(END_INTR|END_TRAJ);
+	i2c_cobboard_mode_pack(I2C_LEFT_SIDE);
+	i2c_cobboard_mode_pack(I2C_RIGHT_SIDE);
+	trajectory_a_rel(&mainboard.traj, COLOR_A(180));
+	err = wait_traj_end(END_INTR|END_TRAJ);
 
-	return err;
-}
+	/* cob ejection */
+	trajectory_d_rel(&mainboard.traj, -100);
+	err = wait_traj_end(END_INTR|END_TRAJ);
+	i2c_cobboard_mode_eject();
+	time_wait_ms(2000);
 
-/* return true if we need to grab some more elements (lintel/cols) */
-uint8_t need_more_elements(void)
-{
-	if (time_get_s() <= 75) {
-		/* we have at least one col on each arm, build now */
-		if ((get_column_count_left() >= 1) && 
-		    (get_column_count_right() >= 1))
-			return 0;
-	}
-	else {
-		if (get_column_count())
-			return 0;
-	}
-	return 1;
+	trajectory_hardstop(&mainboard.traj);
+	return END_TRAJ;
 }
 
 /* dump state (every 5 s max) */
@@ -687,121 +226,9 @@ uint8_t need_more_elements(void)
 uint8_t strat_main(void)
 {
 	uint8_t err;
-	struct temple *temple = NULL;
-	struct build_zone *zone = NULL;
 
-	uint8_t last_print_cols = 0;
-	uint8_t last_print_lin = 0;
-	uint8_t last_print_temple = 0;
-	uint8_t last_print_zone = 0;
-
-	/* do static cols + first temple */
+	/* */
 	err = strat_beginning();
 
-	/* skip error code */
-
-	while (1) {
-		
-		if (err == END_TIMER) {
-			DEBUG(E_USER_STRAT, "End of time");
-			strat_exit();
-			break;
-		}
-
-		/* we have at least one col on each arm, build now */
-		if (need_more_elements() == 0) {
-			
-			/* try to build on opponent, will return
-			 * END_TRAJ without doing anything if
-			 * disabled */
-			err = strat_build_on_opponent_temple();
-			if (!TRAJ_SUCCESS(err))
-				continue;
-			if (need_more_elements())
-				continue;
-
-			/* try to scan and build on our temple, will
-			 * return END_TRAJ without doing anything if
-			 * disabled */
-			err = strat_check_temple_and_build();
-			if (!TRAJ_SUCCESS(err))
-				continue;
-			if (need_more_elements())
-				continue;
-
-			/* Else, do a simple build, as before */
-
-			temple = strat_get_best_temple();
-
-			/* one valid temple found */
-			if (temple) {
-				DUMP_RATE_LIMIT(strat_dump_all_temples, last_print_temple);
-
-				err = strat_goto_temple(temple);
-				if (!TRAJ_SUCCESS(err))
-					continue;
-
-				/* can return END_ERROR or END_TIMER,
-				 * should not happen here */
-				err = strat_grow_temple(temple);
-				if (!TRAJ_SUCCESS(err))
-					continue;
-				
-				err = strat_escape(temple->zone, TRAJ_FLAGS_STD);
-				if (!TRAJ_SUCCESS(err))
-					continue;
-
-				continue;
-			}
-
-			zone = strat_get_best_zone();
-			if (zone) {
-				DUMP_RATE_LIMIT(strat_dump_all_zones, last_print_zone);
-
-				DEBUG(E_USER_STRAT, "goto zone %s", zone->name);
-				err = strat_goto_build_zone(zone, zone->level);
-				if (!TRAJ_SUCCESS(err))
-					continue;
-				DEBUG(E_USER_STRAT, "zone reached");
-				
-				/* no error code except END_ERROR, should not happen */
-				err = strat_build_new_temple(zone);
-
-				err = strat_escape(zone, TRAJ_FLAGS_STD);
-				if (!TRAJ_SUCCESS(err))
-					continue;
-
-				continue;
-			}
-
-			/* XXX hey what can we do here... :'( */
-			DEBUG(E_USER_STRAT, "panic :)");
-			time_wait_ms(1000);
-			continue;
-		}
-
-		/* else we need some elements (lintels, then columns) */
-		else {
-			if (strat_infos.l1.count != 0 && strat_infos.l2.count != 0)
-				DUMP_RATE_LIMIT(strat_dump_lin_disp, last_print_lin);
-
-			err = strat_pickup_lintels();
-			 /* can return an error code, but we have
-			  * nothing to do because pickup_column()
-			  * starts with a goto_and_avoid() */
-			if (!TRAJ_SUCCESS(err))
-				nop();
-			
-			DUMP_RATE_LIMIT(strat_dump_col_disp, last_print_cols);
-
-			err = strat_pickup_columns();
-			if (!TRAJ_SUCCESS(err))
-				nop(); /* nothing to do */
-
-			/* XXX check here that we have elements, or do
-			 * something else */
-			/* if we cannot take elements, try to build */
-		}
-	}
-	return END_TRAJ;
+	return err;
 }