cup1

[aversive.git] / projects / microb2010 / mainboard / strat.c

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index 64562f5..7f7b9d9 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -501,6 +501,7 @@ static uint8_t strat_eject(void)
        /* ball ejection */
        if (get_ball_count() > 0) {
                i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
+               time_wait_ms(300);
                trajectory_a_abs(&mainboard.traj, COLOR_A(70));
                err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
                if (!TRAJ_SUCCESS(err))
@@ -517,6 +518,10 @@ static uint8_t strat_eject(void)
                                     2000);
 #endif
        }
+       else {
+               /* to pack spickles */
+               time_wait_ms(300);
+       }
 
        if (get_cob_count() > 0) {
                /* half turn */
@@ -904,7 +909,12 @@ uint8_t run_to_the_hills(uint8_t orange_color)
        strat_hardstop();
        i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_TAKE_FORK);
 
-       time_wait_ms(1800);
+       time_wait_ms(1100);
+
+       trajectory_d_rel(&mainboard.traj, 15);
+       time_wait_ms(400);
+       strat_hardstop();
+       time_wait_ms(200);
 
        /* reach top, go down */
        trajectory_d_rel(&mainboard.traj, -HILL_LEN);