+
+ time_wait_ms(250);
+ shovel_up();
+ i ++;
+ }
+
+ /* bad state, try to eject to cobs */
+ if (i == 4) {
+ servo_door_open();
+ shovel_mid();
+
+ while (WAIT_COND_OR_TIMEOUT(shovel_is_mid(), 600) == 0) {
+ STMCH_DEBUG("ejecting cobs");
+
+ shovel_down();
+ time_wait_ms(250);
+ if (state_no_cob_inside()) {
+ servo_door_close();
+ cob_count = 0;
+ return;
+ }
+ shovel_mid();
+ }