skateboard cones

Three events:

1. barrel racing
2. slalom https://www.youtube.com/watch?v=sYSr-Sft4Zk
3. freestyle

Freestyle Aesthetics:

1. choose order of barrels
2. choose direction around each barrel, cw or ccw
3. collision detect
4. pass by with slight bend, or
5. circle around

Multi-tasking:

1. strategy, plot course (see Aesthetics)
2. tactics, steering, staying on course

steering:

1. calc relative bearing
2. set steering angle

plot course:

1. calc entry and exit points for the arc around each cone
   1. enter on the left, go clockwise around the cone
   2. enter on the right, go counter-clockwise