+/* get tomatoes near our goals (12,5 and 12,3) */
+uint8_t get_opp_oranges(void)
+{
+ int16_t x, y;
+ uint8_t i, j;
+ uint8_t err;
+
+ DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
+
+ /* only if oranges are present */
+ if (strat_db.opp_oranges_count == 0)
+ return END_TRAJ;
+
+ strat_db.opp_oranges_count = 0;
+ 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;
+
+ /* not on eject point */
+ if (i != 11 || j != 6)
+ return END_ERROR;
+
+ strat_want_pack = 1;
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+
+ /* 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;
+
+ trajectory_goto_forward_xy_abs(&mainboard.traj, 2625, COLOR_Y(597));
+ err = wait_traj_end(TRAJ_FLAGS_STD);
+ if (!TRAJ_SUCCESS(err))
+ goto fail;
+
+ 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;
+}
+