- 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_VERY_SLOW, SPEED_ANGLE_SLOW);
+
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+
+ trajectory_a_abs(&mainboard.traj, COLOR_A(-90));
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ time_wait_ms(200);
+
+ err = strat_calib(400, TRAJ_FLAGS_SMALL_DIST);
+ strat_reset_pos(DO_NOT_SET_POS,
+ COLOR_Y(ROBOT_HALF_LENGTH_FRONT),
+ COLOR_A(-90) + ROBOT_ANGLE_FRONT);