X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fstrat.c;h=dd7b23c43cc48be4557e6b8c8171cd29f01afc66;hp=3f54716cc0294d6a6743f373fdb058f8a03c69f3;hb=03e4f34e90f71a08b671193c8a3ac9e587f83cd6;hpb=5918edd6f4f713ef3c8b0b0020dd30a4fb8222ae

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index 3f54716..dd7b23c 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>
@@ -33,13 +33,15 @@
 #include <ax12.h>
 #include <uart.h>
 #include <pwm_ng.h>
-#include <time.h>
+#include <clock_time.h>
 #include <spi.h>
 
 #include <pid.h>
 #include <quadramp.h>
 #include <control_system_manager.h>
 #include <trajectory_manager.h>
+#include <trajectory_manager_utils.h>
+#include <trajectory_manager_core.h>
 #include <vect_base.h>
 #include <lines.h>
 #include <polygon.h>
@@ -56,752 +58,905 @@
 #include "../common/i2c_commands.h"
 #include "i2c_protocol.h"
 #include "main.h"
+#include "cs.h"
 #include "strat.h"
+#include "strat_db.h"
 #include "strat_base.h"
+#include "strat_corn.h"
 #include "strat_utils.h"
+#include "strat_avoid.h"
 #include "sensor.h"
 #include "actuator.h"
 
 #define COL_DISP_MARGIN 400 /* stop 40 cm in front of dispenser */
 #define COL_SCAN_PRE_MARGIN 250
 
+static volatile uint8_t strat_running = 0;
+volatile uint8_t strat_want_pack = 0;
+volatile uint8_t strat_lpack60 = 0;
+volatile uint8_t strat_rpack60 = 0;
+struct strat_conf strat_conf = {
+	.dump_enabled = 0,
+	.opp_orange = 90,
+	.orphan_tomato = 50,
+	.flags = 0,
+};
 
-#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;
-};
+/*                  INIT                                     */
 
-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)
+/* called before each strat, and before the start switch */
+void strat_preinit(void)
 {
-	int16_t opp_a, opp_d, opp_x, opp_y;
-	int8_t err;
-	uint8_t time;
+	time_reset();
+	interrupt_traj_reset();
+	mainboard.flags =  DO_ENCODERS | DO_CS | DO_RS |
+		DO_POS | DO_BD | DO_POWER;
 
-	time = time_get_s();
+	strat_db_init();
+	strat_conf_dump(__FUNCTION__);
+	strat_db_dump(__FUNCTION__);
+}
 
-	/* one sample per second max */
-	if (time <= beacon_prev_time)
-		return;
-	/* limit max number of samples */
-	if (beacon_cur_idx >= BEACON_MAX_SAMPLES)
+void strat_conf_dump(const char *caller)
+{
+	if (!strat_conf.dump_enabled)
 		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;
+	printf_P(PSTR("-- conf --\r\n"));
+	printf_P(PSTR("opp_orange = %d\n"), strat_conf.opp_orange);
+	printf_P(PSTR("orphan_tomato = %d\n"), strat_conf.orphan_tomato);
+	printf_P(PSTR("our_orange = %s\n"),
+		 (strat_conf.flags & STRAT_CONF_OUR_ORANGE) ? "y":"n");
+}
 
-	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 strat_event_enable(void)
+{
+	strat_running = 1;
 }
 
-void beacon_dump_samples(void)
+void strat_event_disable(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);
-	}
+	strat_running = 0;
 }
-#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",
-		},
-	}
-};
+/* call it just before launching the strat */
+void strat_init(void)
+{
+#ifdef HOST_VERSION
+	position_set(&mainboard.pos, 298.16,
+		     COLOR_Y(308.78), COLOR_A(70.00));
+#endif
 
-/*************************************************************/
+	/* we consider that the color is correctly set */
+	strat_running = 1;
+	strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+	time_reset();
+	interrupt_traj_reset();
 
-/*                  INIT                                     */
+	i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+	i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
 
-/*************************************************************/
+	/* used in strat_base for END_TIMER */
+	mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
+		DO_POS | DO_BD | DO_TIMER | DO_POWER;
+}
 
-void strat_set_bounding_box(void)
+/* call it after each strat */
+void strat_exit(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;
-	}
+#ifndef HOST_VERSION
+	uint8_t flags;
+#endif
 
-	polygon_set_boundingbox(strat_infos.area_bbox.x1,
-				strat_infos.area_bbox.y1,
-				strat_infos.area_bbox.x2,
-				strat_infos.area_bbox.y2);
+	strat_running = 0;
+	mainboard.flags &= ~(DO_TIMER);
+	strat_hardstop();
+	time_reset();
+	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);
+#endif
 }
 
-/* called before each strat, and before the start switch */
-void strat_preinit(void)
+/* mark tomato as not present */
+static void check_tomato(void)
 {
-	time_reset();
-	interrupt_traj_reset();
-	mainboard.flags =  DO_ENCODERS | DO_CS | DO_RS |
-		DO_POS | DO_BD | DO_POWER;
+	int16_t x, y;
+	uint8_t i, j;
+	static uint8_t prev_check_time;
+	uint8_t cur_time;
+
+	/* check present tomatoes once per second */
+	cur_time = time_get_s();
+	if (cur_time != prev_check_time) {
+		uint8_t k;
+
+		for (k = 0; k < TOMATO_NB; k++) {
+			if (strat_db.tomato_table[k]->present == 1 &&
+			    strat_db.tomato_table[k]->time_removed != -1 &&
+			    strat_db.tomato_table[k]->time_removed + 2 <= time_get_s()) {
+#ifdef HOST_VERSION
+				printf("remove tomato %d\n", k);
+#endif
+				strat_db.tomato_table[k]->present = 0;
+			}
+		}
+		prev_check_time = cur_time;
+	}
 
-	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);
+	x = position_get_x_s16(&mainboard.pos);
+	y = position_get_y_s16(&mainboard.pos);
 
-	strat_dump_conf();
-	strat_dump_infos(__FUNCTION__);
-}
+	if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
+		return;
 
-void strat_dump_conf(void)
-{
-	if (!strat_infos.dump_enabled)
+	if (strat_db.wp_table[i][j].type != WP_TYPE_TOMATO)
 		return;
 
-	printf_P(PSTR("-- conf --\r\n"));
+	if (strat_db.wp_table[i][j].present == 0)
+		return;
 
-	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"));
+	strat_db.wp_table[i][j].time_removed = time_get_s();
+	strat_db.wp_table[i][j].present = 0;
+#ifdef HOST_VERSION
+	ballboard.ball_count ++;
+	printf("add ball %d,%d\n", i, j);
+#endif
+}
 
-	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"));
+/* mark corn as not present and give correct commands to the cobboard
+ * for spickles */
+static void check_corn(void)
+{
+	uint8_t flags;
+	int8_t lcob_near, rcob_near;
+	uint8_t lcob, rcob;
+	uint8_t lidx, ridx;
+	static uint8_t prev_check_time;
+	uint8_t cur_time;
 
-	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"));
+	/* read sensors from ballboard */
+	IRQ_LOCK(flags);
+	lcob = ballboard.lcob;
+	ballboard.lcob = I2C_COB_NONE;
+	rcob = ballboard.rcob;
+	ballboard.rcob = I2C_COB_NONE;
+	IRQ_UNLOCK(flags);
 
-	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"));
+	/* XXX take opponent position into account */
 
-	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"));
+	/* check present cobs once per second */
+	cur_time = time_get_s();
+	if (cur_time != prev_check_time) {
+		uint8_t i;
 
-	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"));
+		for (i = 0; i < CORN_NB; i++) {
+			if (strat_db.corn_table[i]->present == 1 &&
+			    strat_db.corn_table[i]->time_removed != -1 &&
+			    strat_db.corn_table[i]->time_removed + 2 <= time_get_s()) {
+#ifdef HOST_VERSION
+				printf("remove cob %d\n", i);
+#endif
+				strat_db.corn_table[i]->present = 0;
+			}
+		}
+		prev_check_time = cur_time;
+	}
 
-	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"));
+	/* detect cob on left side */
+	lcob_near = corn_is_near(&lidx, I2C_LEFT_SIDE);
+	if (lcob_near && lcob != I2C_COB_NONE) {
+		if (strat_db.corn_table[lidx]->corn.color == I2C_COB_UNKNOWN)
+			DEBUG(E_USER_STRAT, "lcob %s %d",
+			      lcob == I2C_COB_WHITE ? "white" : "black", lidx);
+		corn_set_color(strat_db.corn_table[lidx], lcob);
+	}
 
-	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);
+	/* detect cob on right side */
+	rcob_near = corn_is_near(&ridx, I2C_RIGHT_SIDE);
+	if (rcob_near && rcob != I2C_COB_NONE) {
+		if (strat_db.corn_table[ridx]->corn.color == I2C_COB_UNKNOWN)
+			DEBUG(E_USER_STRAT, "rcob %s %d",
+			      rcob == I2C_COB_WHITE ? "white" : "black", ridx);
+		corn_set_color(strat_db.corn_table[ridx], rcob);
+	}
+
+	/* control the cobboard mode for left spickle */
+	if (lcob_near && strat_db.corn_table[lidx]->present) {
+		if (get_cob_count() >= 5 || strat_want_pack || strat_lpack60) {
+			/* nothing  */
+		}
+		else {
+			/* deploy spickle and harvest white ones */
+			if (strat_db.corn_table[lidx]->corn.color == I2C_COB_WHITE) {
+				i2c_cobboard_autoharvest_nomove(I2C_LEFT_SIDE);
+				if (strat_db.corn_table[lidx]->time_removed == -1
+#ifndef HOST_VERSION
+				    && cobboard.status == I2C_COBBOARD_STATUS_LBUSY
+#endif
+				    ) {
+					strat_db.corn_table[lidx]->time_removed = time_get_s();
+#ifdef HOST_VERSION
+					cobboard.cob_count ++;
+					printf("add cob %d\n", lidx);
+#endif
+				}
+			}
+			else
+				i2c_cobboard_deploy_nomove(I2C_LEFT_SIDE);
+		}
+	}
+	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 (strat_db.corn_table[ridx]->time_removed == -1
+#ifndef HOST_VERSION
+				    && cobboard.status == I2C_COBBOARD_STATUS_RBUSY
+#endif
+				    ) {
+					strat_db.corn_table[ridx]->time_removed = time_get_s();
+#ifdef HOST_VERSION
+					cobboard.cob_count ++;
+					printf("add cob %d\n", ridx);
+#endif
+				}
+			}
+			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);
+	}
 }
 
-void strat_dump_temple(struct temple *temple)
+/* called periodically (10ms) */
+void strat_event(void *dummy)
 {
-	if (!strat_infos.dump_enabled)
+	/* ignore when strat is not running */
+	if (strat_running == 0)
 		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 "));
+	check_tomato();
+	check_corn();
 
-	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);
+	/* limit speed when opponent is near */
+	/* disabled for 2010, we are already slow :) */
+	//strat_limit_speed();
 }
 
-void strat_dump_zone(struct build_zone *zone)
+/* check that we are on an eject line */
+static uint8_t robot_is_on_eject_line(void)
 {
-	if (!strat_infos.dump_enabled)
-		return;
+	int16_t x, y;
+	uint8_t i, j;
 
-	printf_P(PSTR("  zone %s: "), zone->name);
+	x = position_get_x_s16(&mainboard.pos);
+	y = position_get_y_s16(&mainboard.pos);
 
-	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 (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
+		return 0;
 
-	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);
+	if (!wp_belongs_to_line(i, j, 5, LINE_UP) &&
+	    !wp_belongs_to_line(i, j, 2, LINE_R_UP))
+		return 0;
+
+	return 1;
 }
 
-void strat_dump_static_cols(void)
+/* 0 = fast, 1 = slow */
+static uint8_t eject_select_speed(void)
 {
-	if (!strat_infos.dump_enabled)
-		return;
+	int16_t x, y;
+	uint8_t i, j;
 
-	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);
-}
+	x = position_get_x_s16(&mainboard.pos);
+	y = position_get_y_s16(&mainboard.pos);
 
-void strat_dump_col_disp(void)
-{
-	if (!strat_infos.dump_enabled)
-		return;
+	if (get_cob_count() >= 5) {
+		strat_want_pack = 1;
+		return 0; /* fast */
+	}
 
-	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);
+	if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0) {
+		DEBUG(E_USER_STRAT, "%s(): cannot find waypoint at %d,%d",
+		      __FUNCTION__, x, y);
+		return 1; /* slow */
+	}
+
+	if (corn_count_neigh(i, j) == 2)
+		return 1; /* slow */
+
+	return 0; /* fast */
 }
 
-void strat_dump_lin_disp(void)
+/* called multiple times while we are waiting to reach the ejection
+ * point */
+static uint8_t speedify_eject(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);
-
+	if (eject_select_speed())
+		strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
+	else
+		strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
+	return 0;
 }
 
-void strat_dump_all_temples(void)
+/* must be called from a terminal line */
+static uint8_t strat_eject(void)
 {
-	struct temple *temple;
-	uint8_t i;
+	uint8_t err;
 
-	if (!strat_infos.dump_enabled)
-		return;
+	DEBUG(E_USER_STRAT, "%s() cob_count=%d ball_count=%d",
+	      __FUNCTION__, get_cob_count(), get_ball_count());
 
-	for (i=0; i<MAX_TEMPLE; i++) {
-		temple = &strat_infos.temple_list[i];
-		if (!(temple->flags & TEMPLE_F_VALID))
-			continue;
-		strat_dump_temple(temple);
+	/* check that we are called from an eject line */
+	if (!robot_is_on_eject_line()) {
+		DEBUG(E_USER_STRAT, "%s() not on eject line", __FUNCTION__);
+		return END_ERROR;
 	}
-}
 
-void strat_dump_all_zones(void)
-{
-	struct build_zone *zone;
-	uint8_t i;
+	/* go to eject point */
+	trajectory_goto_forward_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
+	err = WAIT_COND_OR_TRAJ_END(speedify_eject(),
+				    TRAJ_FLAGS_NO_NEAR);
+	/* err is never == 0 because speedify_eject() always return 0 */
+	if (!TRAJ_SUCCESS(err))
+		return err;
 
-	if (!strat_infos.dump_enabled)
-		return;
+	/* pack arms (force), and disable strat_event */
+	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);
+#endif
+	}
 
-	for (i=0; i<MAX_ZONE; i++) {
-		zone = &strat_infos.zone_list[i];
-		if (!(zone->flags & ZONE_F_VALID))
-			continue;
-		strat_dump_zone(zone);
+	/* half turn */
+	trajectory_a_abs(&mainboard.traj, COLOR_A(-110));
+	err = wait_traj_end(END_INTR|END_TRAJ);
+	if (!TRAJ_SUCCESS(err))
+		goto fail;
+
+	/* cob ejection */
+	trajectory_d_rel(&mainboard.traj, -70);
+	err = wait_traj_end(END_INTR|END_TRAJ);
+	if (!TRAJ_SUCCESS(err))
+		goto fail;
+
+	if (get_cob_count() > 0) {
+		i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
+		time_wait_ms(2000);
 	}
+
+	/* cob ejection */
+	trajectory_d_rel(&mainboard.traj, 70);
+	err = wait_traj_end(END_INTR|END_TRAJ);
+	if (!TRAJ_SUCCESS(err))
+		goto fail;
+
+	strat_db_dump(__FUNCTION__);
+	err = END_TRAJ;
+
+ fail:
+	strat_event_enable();
+	strat_want_pack = 0;
+	return err;
 }
 
-/* display current information about the state of the game */
-void strat_dump_infos(const char *caller)
+static uint8_t strat_beginning(uint8_t do_initturn)
 {
-	if (!strat_infos.dump_enabled)
-		return;
+	uint8_t err;
+
+	strat_set_acc(ACC_DIST, ACC_ANGLE);
 
-	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();
+	if (do_initturn) {
+		strat_set_speed(600, 60); /* OK */
+		trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(20));
+		err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
+					    TRAJ_FLAGS_STD);
+	}
+
+	strat_set_acc(ACC_DIST, ACC_ANGLE);
+	strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
+
+	err = line2line(0, LINE_UP, 2, LINE_R_DOWN, TRAJ_FLAGS_NO_NEAR);
+	if (!TRAJ_SUCCESS(err))
+		return err;
+
+	err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP, TRAJ_FLAGS_NO_NEAR);
+	if (!TRAJ_SUCCESS(err)) {
+		return err;
+	}
+
+	return END_TRAJ;
 }
 
-/* init current area state before a match. Dump update user conf
- * here */
-void strat_reset_infos(void)
+/* dump state (every 5 s max) */
+#define DUMP_RATE_LIMIT(dump, last_print)		\
+	do {						\
+		if (time_get_s() - last_print > 5) {	\
+			dump();				\
+			last_print = time_get_s();	\
+		}					\
+	} while (0)
+
+
+#if 0
+/* return true if we need to grab some more elements */
+static uint8_t need_more_elements(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;
+	if (time_get_s() <= 75) {
+		/* we have enough time left */
+		if (get_ball_count() >= 4)
+			return 0;
+		if (get_cob_count() >= 4)
+			return 0;
+		if ((get_ball_count() >= 2) &&
+		    (get_cob_count() >= 2))
+			return 0;
+		return 1;
 	}
 	else {
-		strat_infos.l1.x = 888;
-		strat_infos.l2.x = 1288;
+		/* not much time remaining */
+		if ((get_ball_count() >= 1) &&
+		    (get_cob_count() >= 1))
+			return 0;
+		return 1;
 	}
 }
+#endif
 
-/* call it just before launching the strat */
-void strat_init(void)
+/* get tomatoes near our goals (12,5 and 12,3) */
+uint8_t get_opp_oranges(void)
 {
-	pickup_wheels_on();
-	strat_reset_infos();
+	int16_t x, y;
+	uint8_t i, j;
+	uint8_t err;
 
-	/* we consider that the color is correctly set */
+	DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
 
-	strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
-	time_reset();
-	interrupt_traj_reset();
+	/* only if oranges are present */
+	if (strat_db.opp_oranges_count == 0)
+		return END_TRAJ;
 
-	/* used in strat_base for END_TIMER */
-	mainboard.flags = DO_ENCODERS | DO_CS | DO_RS | 
-		DO_POS | DO_BD | DO_TIMER | DO_POWER;
+	strat_db.opp_oranges_count = 0;
+	x = position_get_x_s16(&mainboard.pos);
+	y = position_get_y_s16(&mainboard.pos);
 
-#ifdef TEST_BEACON
-	beacon_prev_time = 0;
-	beacon_cur_idx = 0;
-#endif
-}
+	if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
+		return END_ERROR;
 
+	/* not on eject point */
+	if (i != 11 || j != 6)
+		return END_ERROR;
 
-/* call it after each strat */
-void strat_exit(void)
-{
-	uint8_t flags;
+	strat_want_pack = 1;
+	strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
 
-	pickup_wheels_off();
-	mainboard.flags &= ~(DO_TIMER);
-	strat_hardstop();
-	time_reset();
-	wait_ms(1000);
-	IRQ_LOCK(flags);
-	mainboard.flags &= ~(DO_CS);
-	pwm_ng_set(LEFT_PWM, 0);
-	pwm_ng_set(RIGHT_PWM, 0);
-	IRQ_UNLOCK(flags);
-}
+	/* turn in the correct direction */
+	trajectory_a_abs(&mainboard.traj, COLOR_A(-90));
+	err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+	if (!TRAJ_SUCCESS(err))
+		goto fail;
 
-/* called periodically */
-void strat_event(void *dummy)
-{
-	/* limit speed when opponent is close */
-	strat_limit_speed();
+	trajectory_goto_forward_xy_abs(&mainboard.traj, 2625, COLOR_Y(597));
+	err = wait_traj_end(TRAJ_FLAGS_STD);
+	if (!TRAJ_SUCCESS(err))
+		goto fail;
 
-#ifdef TEST_BEACON
-	beacon_update_samples();
-#endif
+	strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW);
+	trajectory_goto_forward_xy_abs(&mainboard.traj, 2750, COLOR_Y(250));
+	err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+	if (!TRAJ_SUCCESS(err))
+		goto fail;
+
+	err = run_to_the_hills(get_opponent_color());
+
+ fail:
+	strat_want_pack = 0;
+	return err;
 }
 
-/* do static cols + first temples */
-static uint8_t strat_beginning(void)
+/* get tomatoes near our goals (12,5 and 12,3) */
+uint8_t get_orphan_tomatoes(void)
 {
+#define CLITOID_TOMATO_RADIUS 100.
+#define TOMATO_BACK_X 2760
+#define TOMATO_BACK_LEN 200
+
+	int16_t x, y, a;
+	uint8_t i, j;
 	uint8_t err;
+	int8_t ret;
+
+	DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
+
+	/* only go if both tomatoes are present */
+	if (!strat_db.wp_table[12][5].present ||
+	    !strat_db.wp_table[12][3].present) {
+		return END_TRAJ;
+	}
+
+	x = position_get_x_s16(&mainboard.pos);
+	y = position_get_y_s16(&mainboard.pos);
+
+	if (xycoord_to_ijcoord(&x, &y, &i, &j) < 0)
+		return END_ERROR;
 
-	/* don't limit the speed when opponent is near: it can change
-	 * the radius of the curves */
-	strat_limit_speed_disable();
+	/* not on eject point */
+	if (i != 11 || j != 6)
+		return END_ERROR;
 
-	err = strat_static_columns(0);
+	strat_want_pack = 1;
+	strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
 
-	strat_limit_speed_enable();
+	/* turn in the correct direction */
+	trajectory_a_abs(&mainboard.traj, COLOR_A(-90));
+	err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+
+	/* clitoid to turn and take the first ball */
+	ret = trajectory_clitoid(&mainboard.traj, 2625, COLOR_Y(1847),
+				 COLOR_A(-90), 150., COLOR_A(90), 0,
+				 CLITOID_TOMATO_RADIUS, 3*125);
+	if (ret < 0) {
+		err = END_ERROR;
+		goto fail;
+	}
 
+	err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 	if (!TRAJ_SUCCESS(err))
-		return err;
+		goto fail;
+
+	strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
+	err = strat_calib(300, END_TRAJ|END_BLOCKING);
+	a = position_get_a_deg_s16(&mainboard.pos);
+	if (ABS(a) < 10)
+		strat_reset_pos(AREA_X - ROBOT_HALF_LENGTH_FRONT,
+				DO_NOT_SET_POS,
+				COLOR_A(0));
+
+	strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_FAST);
+	trajectory_d_rel(&mainboard.traj, -250);
+	err = WAIT_COND_OR_TRAJ_END(!x_is_more_than(TOMATO_BACK_X),
+				    TRAJ_FLAGS_NO_NEAR);
+
+	if (err != 0 && !TRAJ_SUCCESS(err))
+		goto fail;
+
+	trajectory_d_a_rel(&mainboard.traj, -TOMATO_BACK_LEN, COLOR_A(-90));
+	err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+
+	/* next ball */
+
+	/* clitoid to turn and take the first ball */
+	strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
+	ret = trajectory_clitoid(&mainboard.traj, 2625, COLOR_Y(1847),
+				 COLOR_A(-90), 150., COLOR_A(90), 0,
+				 CLITOID_TOMATO_RADIUS, 7*125);
+	if (ret < 0) {
+		err = END_ERROR;
+		goto fail;
+	}
+	err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+	if (!TRAJ_SUCCESS(err))
+		goto fail;
+
+	strat_hardstop();
+	strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_FAST);
+	trajectory_d_rel(&mainboard.traj, -250);
+	err = WAIT_COND_OR_TRAJ_END(!x_is_more_than(TOMATO_BACK_X),
+				    TRAJ_FLAGS_NO_NEAR);
+	trajectory_d_a_rel(&mainboard.traj, -TOMATO_BACK_LEN, COLOR_A(-90));
+	err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+
+fail:
+	strat_want_pack = 0;
+	return err;
+}
+
+
+#define HILL_LEN 1000
 
-	/* go to disc to build the first temple */
+#define HILL_ANGLE 0
+#define HILL_POSY_YELLOW 310
+#define HILL_POSY_BLUE 190
 
-	/* XXX if opponent is near disc, go to zone1 */
-	err = strat_goto_disc(2);
+#define HILL_POSX_BALLS_DOWN1 830
+#define HILL_POSX_BALLS_DOWN2 920
+#define HILL_POSX_BALLS_DOWN3 730
+#define HILL_START_POSX 580
+
+uint8_t prepare_hill(uint8_t orange_color, int16_t posx)
+{
+	int16_t startx, starty;
+	uint8_t our_color = get_color();
+	uint8_t err;
+
+	if (orange_color == I2C_COLOR_YELLOW)
+		starty = HILL_POSY_YELLOW;
+	else
+		starty = HILL_POSY_BLUE;
+	if (orange_color == our_color)
+		startx = posx;
+	else
+		startx = AREA_X - posx;
+	trajectory_goto_forward_xy_abs(&mainboard.traj, startx, COLOR_Y(starty));
+	err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
 	if (!TRAJ_SUCCESS(err))
 		return err;
-	DEBUG(E_USER_STRAT, "disc reached");
 
-	/* can return END_ERROR or END_TIMER, should not happen
-	 * here */
-	err = strat_build_new_temple(&strat_infos.zone_list[0]);
+	/* turn to the hills */
+	if (orange_color == our_color)
+		trajectory_a_abs(&mainboard.traj, COLOR_A(HILL_ANGLE));
+	else
+		trajectory_a_abs(&mainboard.traj, COLOR_A(-180+HILL_ANGLE));
+	err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
 	if (!TRAJ_SUCCESS(err))
 		return err;
 
-	/* 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;
-	}
+	return END_TRAJ;
+}
+
+/* get oranges, must be called near game area */
+uint8_t run_to_the_hills(uint8_t orange_color)
+{
+	double aa, ad;
+	uint16_t sa, sd;
+	uint8_t err;
+	uint8_t our_color = get_color();
+	int32_t p = pid_get_gain_P(&mainboard.angle.pid);
+	int32_t i = pid_get_gain_I(&mainboard.angle.pid);
+	int32_t d = pid_get_gain_D(&mainboard.angle.pid);
+	int32_t max_in = pid_get_max_in(&mainboard.angle.pid);
+	int32_t max_i = pid_get_max_I(&mainboard.angle.pid);
+	int32_t max_out = pid_get_max_out(&mainboard.angle.pid);
+
+	strat_want_pack = 1;
+	strat_get_acc(&ad, &aa);
+	strat_get_speed(&sd, &sa);
 
-	/* get the last 2 columns, and build them on previous temple */
-	err = strat_static_columns_pass2();
+	DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
+
+	strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+	err = prepare_hill(orange_color, HILL_START_POSX);
 	if (!TRAJ_SUCCESS(err))
 		return err;
 
-	/* early opponent scan, for offensive strategy */
-	if (strat_infos.conf.flags & STRAT_CONF_EARLY_SCAN) {
-		err = strat_pickup_lintels();
-		/* ignore code */
+	strat_set_acc(5, ACC_ANGLE);
+	strat_set_speed(300, SPEED_ANGLE_SLOW);
+	bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 2000000, 80);
+	bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 2000000, 80);
+	bd_set_speed_threshold(&mainboard.distance.bd, 10);
+	support_balls_pack();
+	i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_PREP_FORK);
+
+	/* decrease angle gains */
+	pid_set_gains(&mainboard.angle.pid, 200, 0, 2000);
+
+	/* here it is difficult to handle return values, because we
+	 * are on the hill */
+	i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND_DOWN);
+	trajectory_d_rel(&mainboard.traj, HILL_LEN);
+	err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) >
+				    HILL_POSX_BALLS_DOWN1,
+				    TRAJ_FLAGS_SMALL_DIST);
+	DEBUG(E_USER_STRAT, "deploy support balls");
+	support_balls_deploy();
+	i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND_UP);
+	trajectory_only_a_rel(&mainboard.traj, 2);
+	err = WAIT_COND_OR_TE_TO(0, 0, 2200);
+
+	i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND_DOWN);
+	strat_set_acc(3, 3);
+	strat_hardstop();
+	i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_TAKE_FORK);
+
+	time_wait_ms(1800);
+
+	/* reach top, go down */
+	trajectory_d_rel(&mainboard.traj, -HILL_LEN);
+
+	err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) <
+				    HILL_POSX_BALLS_DOWN2,
+				    TRAJ_FLAGS_SMALL_DIST);
+	DEBUG(E_USER_STRAT, "pack support balls");
+	support_balls_pack();
+	err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) <
+				    HILL_POSX_BALLS_DOWN3,
+				    TRAJ_FLAGS_SMALL_DIST);
+	DEBUG(E_USER_STRAT, "deploy support balls");
+	strat_set_acc(ad, aa);
+	strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+	support_balls_deploy();
+	err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+	i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+
+	/* wait to be near the wall */
+	err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) < 200,
+				    TRAJ_FLAGS_SMALL_DIST);
+
+	i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+
+	/* restore BD coefs */
+	bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 20);
+	bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 20);
+	bd_set_speed_threshold(&mainboard.distance.bd, 60);
+
+	/* calibrate position on the wall */
+	strat_set_speed(SPEED_DIST_VERY_SLOW, SPEED_ANGLE_FAST);
+	err = strat_calib(-400, TRAJ_FLAGS_SMALL_DIST);
+	if (orange_color == our_color)
+		strat_reset_pos(ROBOT_HALF_LENGTH_REAR,
+			     DO_NOT_SET_POS, COLOR_A(0));
+	else
+		strat_reset_pos(AREA_X - ROBOT_HALF_LENGTH_REAR,
+			     DO_NOT_SET_POS, COLOR_A(180));
+	strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
 
-		/* try to build on opponent (scan must be enabled) */
-		err = strat_build_on_opponent_temple();
-		/* ignore code */
-	}
+	trajectory_d_rel(&mainboard.traj, 250);
+	err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+	if (orange_color == I2C_COLOR_YELLOW)
+		trajectory_a_rel(&mainboard.traj, 90);
+	else
+		trajectory_a_rel(&mainboard.traj, -90);
+	err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+	time_wait_ms(200);
+
+	strat_set_speed(SPEED_DIST_VERY_SLOW, SPEED_ANGLE_FAST);
+	err = strat_calib(-400, TRAJ_FLAGS_SMALL_DIST);
+	strat_reset_pos(DO_NOT_SET_POS,
+			COLOR_Y(ROBOT_HALF_LENGTH_REAR),
+			COLOR_A(90));
+	strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+
+	trajectory_d_rel(&mainboard.traj, 250);
+	err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 
+	/* revert acceleration and speed */
+	pid_set_gains(&mainboard.angle.pid, p, i, d);
+	pid_set_maximums(&mainboard.distance.pid, max_in, max_i, max_out);
+	strat_want_pack = 0;
+	strat_set_speed(sd, sa);
+	support_balls_deploy();
 	return err;
 }
 
-/* return true if we need to grab some more elements (lintel/cols) */
-uint8_t need_more_elements(void)
+uint8_t strat_main(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;
+	uint8_t err, do_initturn = 1;
+
+	/* get oranges */
+	if (strat_conf.flags & STRAT_CONF_OUR_ORANGE) {
+		err = run_to_the_hills(get_color());
+		strat_db.our_oranges_count = 0;
+		do_initturn = 0;
 	}
-	return 1;
-}
 
-/* dump state (every 5 s max) */
-#define DUMP_RATE_LIMIT(dump, last_print)		\
-	do {						\
-		if (time_get_s() - last_print > 5) {	\
-			dump();				\
-			last_print = time_get_s();	\
-		}					\
-	} while (0)
+	/* harvest the first cobs + balls */
+	err = strat_beginning(do_initturn);
 
+	if (!TRAJ_SUCCESS(err))
+		strat_unblock();
+	else
+		err = strat_eject();
 
-uint8_t strat_main(void)
-{
-	uint8_t err;
-	struct temple *temple = NULL;
-	struct build_zone *zone = NULL;
+	/* choose circuit, and harvest on it */
+	while (1) {
 
-	uint8_t last_print_cols = 0;
-	uint8_t last_print_lin = 0;
-	uint8_t last_print_temple = 0;
-	uint8_t last_print_zone = 0;
+		DEBUG(E_USER_STRAT, "start main loop");
 
-	/* do static cols + first temple */
-	err = strat_beginning();
+		/* if it's time to get tomatoes, do it */
+		if (time_get_s() > strat_conf.orphan_tomato) {
+			err = get_orphan_tomatoes();
+			if (err == END_ERROR) {
+				DEBUG(E_USER_STRAT,
+				      "get_orphan_tomatoes returned END_ERROR");
+			}
+			else if (err == END_TIMER) {
+				DEBUG(E_USER_STRAT, "End of time");
+				strat_exit();
+				break;
+			}
+			else if (!TRAJ_SUCCESS(err)) {
+				/* don't retry these tomatoes if it failed */
+				strat_conf.orphan_tomato = 90;
+				strat_unblock();
+			}
+		}
 
-	/* skip error code */
+		/* if it's time to get opponent oranges, do it */
+		if (time_get_s() > strat_conf.opp_orange) {
+			err = get_opp_oranges();
+			if (err == END_ERROR) {
+				DEBUG(E_USER_STRAT,
+				      "get_opp_oranges returned END_ERROR");
+			}
+			else if (err == END_TIMER) {
+				DEBUG(E_USER_STRAT, "End of time");
+				strat_exit();
+				break;
+			}
+			else if (!TRAJ_SUCCESS(err)) {
+				/* don't retry oranges if it failed */
+				strat_conf.opp_orange = 90;
+				strat_unblock();
+			}
+		}
 
-	while (1) {
-		
+		/**********************/
+		/* harvest on circuit */
+		/**********************/
+
+		err = strat_harvest_circuit();
 		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);
+		if (!TRAJ_SUCCESS(err)) {
+			strat_unblock();
 			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 */
+		/***********************/
+		/* eject game elements */
+		/***********************/
+
+		err = strat_eject();
+		/* end of time exit ! */
+		if (err == END_TIMER) {
+			DEBUG(E_USER_STRAT, "End of time");
+			strat_exit();
+			break;
+		}
+		if (!TRAJ_SUCCESS(err)) {
+			strat_unblock();
+			continue;
 		}
 	}
-	return END_TRAJ;
+
+	return err;
 }