+ uint8_t our_color = get_color();
+ int16_t startx, starty;
+
+ strat_want_pack = 1;
+ strat_get_acc(&ad, &aa);
+ strat_get_speed(&sd, &sa);
+
+ DEBUG(E_USER_STRAT, "%s()", __FUNCTION__);
+
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+ if (orange_color == I2C_COLOR_YELLOW)
+ starty = HILL_POSY_YELLOW;
+ else
+ starty = HILL_POSY_BLUE;
+ if (orange_color == our_color)
+ startx = HILL_START_POSX;
+ else
+ startx = AREA_X - HILL_START_POSX;
+ trajectory_goto_xy_abs(&mainboard.traj, startx, COLOR_Y(starty));
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+
+ /* turn to the hills */
+ if (orange_color == our_color)
+ trajectory_a_abs(&mainboard.traj, COLOR_A(0));
+ else
+ trajectory_a_abs(&mainboard.traj, COLOR_A(180));
+ err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+
+ strat_set_acc(3, 3);
+ strat_set_speed(300, 500);
+ bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 2000000, 40);
+ support_balls_pack();
+
+ /* here it is difficult to handle return values, because we
+ * are on the hill */
+ trajectory_d_rel(&mainboard.traj, HILL_LEN);
+ err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) > HILL_POSX_BALLS_DOWN,
+ TRAJ_FLAGS_NO_NEAR);
+ printf_P(PSTR("deploy\r\n"));
+ support_balls_deploy();
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND);
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+
+ time_wait_ms(2000);
+
+ /* 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_DOWN,
+ TRAJ_FLAGS_NO_NEAR);
+ printf_P(PSTR("pack\r\n"));
+ support_balls_pack();
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ printf_P(PSTR("deploy\r\n"));
+ support_balls_deploy();
+
+ /* calibrate position on the wall */
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+ strat_set_acc(ad, aa);
+ trajectory_goto_xy_abs(&mainboard.traj, 150, COLOR_Y(starty));
+ err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos) < 300,
+ TRAJ_FLAGS_NO_NEAR);
+ strat_set_speed(SPEED_DIST_VERY_SLOW, SPEED_ANGLE_FAST);
+ err = strat_calib(-300, TRAJ_FLAGS_NO_NEAR);
+ if (orange_color == our_color)
+ position_set(&mainboard.pos, ROBOT_HALF_LENGTH_REAR,
+ DO_NOT_SET_POS, COLOR_A(0));
+ else
+ position_set(&mainboard.pos, AREA_X - ROBOT_HALF_LENGTH_REAR,
+ DO_NOT_SET_POS, COLOR_A(180));
+ strat_set_speed(SPEED_DIST_FAST, SPEED_ANGLE_FAST);
+ trajectory_goto_xy_abs(&mainboard.traj, 150, COLOR_Y(starty));
+ err = wait_traj_end(TRAJ_FLAGS_STD);
+
+ /* revert acceleration and speed */
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+ strat_want_pack = 0;
+ strat_set_speed(sd, sa);
+ bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 20);
+ support_balls_deploy();
+ return err;
+}
+
+uint8_t strat_main(void)
+{
+ uint8_t err, do_initturn = 1;
+
+ /* get oranges */
+ if (strat_conf.flags & STRAT_CONF_OUR_ORANGE) {
+ err = run_to_the_hills(get_color());
+ do_initturn = 0;
+ }