- l2:
- DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
- if (get_cob_count() >= 5)
- strat_set_speed(600, SPEED_ANGLE_FAST);
-
- err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 2);
- if (!TRAJ_SUCCESS(err)) {
- strat_hardstop();
- time_wait_ms(2000);
- goto l2;
- }
-
-#else
- strat_set_speed(600, SPEED_ANGLE_FAST);
- err = line2line(LINE_UP, 0, LINE_R_DOWN, 3);
- err = line2line(LINE_R_DOWN, 3, LINE_R_UP, 2);
- err = line2line(LINE_R_UP, 2, LINE_R_DOWN, 2);
- err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 3);
- err = line2line(LINE_R_UP, 3, LINE_UP, 5);
- err = line2line(LINE_UP, 5, LINE_L_DOWN, 2);
- err = line2line(LINE_L_DOWN, 2, LINE_L_UP, 1);
- err = line2line(LINE_L_UP, 1, LINE_L_DOWN, 1);
- err = line2line(LINE_L_DOWN, 1, LINE_DOWN, 0);
- wait_ms(500);
- strat_hardstop();
- return END_TRAJ;
-#endif
-
- strat_eject();
-
- strat_set_speed(250, SPEED_ANGLE_FAST);
-
- l4:
- DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
- if (get_cob_count() >= 5)
- strat_set_speed(600, SPEED_ANGLE_FAST);
-
- err = line2line(LINE_DOWN, 5, LINE_L_UP, 2);
- if (!TRAJ_SUCCESS(err)) {
- strat_hardstop();
- time_wait_ms(2000);
- goto l4;
- }
-
- l5:
- DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
- if (get_cob_count() >= 5)
- strat_set_speed(600, SPEED_ANGLE_FAST);
-
- err = line2line(LINE_L_UP, 2, LINE_R_UP, 2);
- if (!TRAJ_SUCCESS(err)) {
- strat_hardstop();
- time_wait_ms(2000);
- goto l5;
- }
-
- DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
- if (get_cob_count() >= 5)
- strat_set_speed(600, SPEED_ANGLE_FAST);
-
- WAIT_COND_OR_TRAJ_END(distance_from_robot(2625, COLOR_Y(1847)) < 100,
- TRAJ_FLAGS_STD);
- strat_eject();
-