+static uint8_t strat_beginning2(uint8_t do_initturn)
+{
+ uint8_t err;
+
+ strat_set_acc(ACC_DIST, ACC_ANGLE);
+
+ if (do_initturn) {
+ strat_set_speed(600, 90); /* OK */
+ trajectory_d_a_rel(&mainboard.traj, 1000, COLOR_A(-40));
+ err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
+ TRAJ_FLAGS_STD);
+ if (err == 0)
+ return END_TRAJ;
+ }
+ else {
+ trajectory_goto_forward_xy_abs(&mainboard.traj,
+ 375, COLOR_Y(597));
+ err = wait_traj_end(TRAJ_FLAGS_STD);
+ }
+ return err;
+}
+