private bool TestNormalModeClear(LinePath relativePath, LinePath.PointOnPath closestPoint) { if (arcModeTimer != null && arcModeTimer.ElapsedMilliseconds < 5000) return false; return Math.Abs(closestPoint.OfftrackDistance(Coordinates.Zero)) < 3 && Math.Abs(relativePath.GetSegment(closestPoint.Index).UnitVector.ArcTan) < 45*Math.PI/180.0; }