SpinBotChallenge/St00pid

package dummy;
import robocode.*;
import java.awt.geom.Point2D;
//import java.awt.Color;

/**
 * St00pid - a robot by Kwok-Cheung Li, also known as "Dummy"
 * designed to participate in the Pez' SpinBotChallenge
 * http://robowiki.net/cgi-bin/robowiki?SpinBotChallenge
 */

public class St00pid extends Robot
{

	long scantime=0;
	double bearing = 0;
	double heading=0;
	double spinbotTurnRate = rad(6.25);
	double spinbotVelocity = 5;
	double enemyX, enemyY;
	double enemyDist;
	double radarturn;
	double adjustradar=10;
	double timetohit=1;
	double direction=150;
	double tX, tY;
	boolean found = false;

	public double rad(double deg)
	{
		return Math.PI * deg/180;
	}
	
	public double deg(double rad)
	{
		return 180 * rad/Math.PI;
	}
	
	public double angle_180(double ang)
	{
		return (ang + 900)%360 - 180;
	}
		
	public void radar()
	{
		radarturn = angle_180(bearing - getRadarHeading());
		if (radarturn>0)
			adjustradar = 10;
		else
			adjustradar = -10;
		turnRadarRight(angle_180(bearing - getRadarHeading()) + adjustradar);
		while(!found)
		{
			turnRadarRight(adjustradar);
		}	
	}
	
	public void move()
	{
		if (getTime()>timetohit)
		{
			turnRight(angle_180(bearing - getHeading() + 90));
			adjustForWall();
			ahead(direction);
			direction = -direction;
			timetohit = getTime() + enemyDist/11 - 14;
		}
		else
		doNothing();
	}
	
	public void adjustForWall()
	{
		double tX, tY, dX, dY;
		double newHeading;
		double sign;
		dX = direction * Math.sin(rad(getHeading()));
		dY = direction * Math.cos(rad(getHeading()));
		tX = getX() + dX;
		tY = getY() + dY;
		
		if (tX>=20 && tX<=getBattleFieldWidth()-20 && tY>=20 && tY<=getBattleFieldHeight()-20)
			return;
		
		if (tX < 20)
		{
			tX = 20;
			if (dY<0)
				sign = -1;
			else
				sign = 1;
			dX = 20-getX();
			dY = sign * Math.sqrt(direction*direction - dX*dX);
		}
		
		if (tX > getBattleFieldWidth()-20)
		{
			tX = getBattleFieldWidth()-20;
			if (dY<0)
				sign = -1;
			else
				sign = 1;
			dX = getBattleFieldWidth()-20-getX();
			dY = sign * Math.sqrt(direction*direction - dX*dX);
		}
		
		if (tY < 20)
		{
			tY = 20;
			if (dX<0)
				sign = -1;
			else
				sign = 1;
			dY = 20-getY();
			dX = sign * Math.sqrt(direction*direction - dY*dY);
		}
		
		if (tY > getBattleFieldHeight()-20)
		{
			tY = getBattleFieldHeight()-20;
			if (dX<0)
				sign = -1;
			else
				sign = 1;
			dY = getBattleFieldHeight()-20-getY();
			dX = sign * Math.sqrt(direction*direction - dY*dY);
		}
		double turn = deg(Math.atan2(dX, dY)) - getHeading();
		if (direction<0)
			turn += 180;
		turnRight(angle_180(turn));
	}

	public void gun()
	{
		if (Math.abs(bearing - getGunHeading()) < 20)
			turnGunRight(angle_180(bearing - getGunHeading()));
		// db is the distance the simulated bullet has travelled; db will probably
		// be initialized at a negative value, because we want to offset the fact
		// that the last scan may be some time ago (we're working with Robots, not
		// AdvancedRobots, remember?) and that the gun needs time (probably one tick
		// to turn before firing...
		if (!(getGunHeat()<1))
			return;
			
		double db=(scantime-getTime() - 1)*11;
		double ww = rad(heading);
		double eX = enemyX - getX();
		double eY = enemyY - getY();
		do
		{
			db+=11; //11 is the velocity of a fire(3) bullet.
			double dx=spinbotVelocity*Math.sin(ww);
			double dy=spinbotVelocity*Math.cos(ww);
			ww+=spinbotTurnRate;  // turn w radians for next step
			eX+=dx;
			eY+=dy;
		}while (db< Point2D.distance(0,0,eX,eY));
		double ang = angle_180(deg(Math.atan2(eX, eY)) - getGunHeading());
		turnGunRight(ang);
		fire(3);
	}
	
	public void run() 
	{
		turnRadarRight(360);
		while (!(getGunHeat()<1))
		{
			found = false;
			radar();
		}
		timetohit = getTime() + enemyDist/11 - 20;
		while(true) 
		{
			move();
			found = false;
			radar();
			gun();
		}
	}

	public void onScannedRobot(ScannedRobotEvent e) 
	{
		found = true;
		scantime = getTime();
		bearing = e.getBearing() + getHeading();
		heading = e.getHeading();
		enemyDist = e.getDistance();
		enemyX = getX() + enemyDist * Math.sin(rad(bearing));
		enemyY = getY() + enemyDist * Math.cos(rad(bearing));
		spinbotVelocity = e.getVelocity();
	}
	

}