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package taqho;

import robocode.*;

import java.awt.Color;


/**
 * Seed - My first robot
 *   
 * Step 1: Focus on learning to move around.
 *  There seem to be wall huggers and corner huggers, but the in thing seems to be anti-grav 
 *  robots which move randomly but avoiding walls. 
 *  This version will stick to basics. Corners to start with.
 *
 * Things to learn later:
 *  - avoiding walls
 *  - avoiding other robots (is this necessary)
 *  - When locating a target, track them if they move
 *  - when locating a target, track them when I move
 *  - when locating a target, track them when we both move
 *  - what to do when I get hit by a robot
 *  - what to do when I get hit by a bullet
 *  - can I optimise usage of heat to shot as soon as possible thereafter
 *  - scanning quickly
 *  - strobing an enemy in target to avoid bullets from it
 *  - float close to the wall 
 **/

public class Seed extends Robot {

	// General class variables
	final double wallMargin = 35;

	final int STATE_GOTOCORNER = 1;
	final int STATE_INCORNER = 2;
	int state = STATE_GOTOCORNER;
	
	// Corner variables
	double cornerX;
	double cornerY;
	int currentCorner = 0;
	int newCorner = 0;
	
	// Scanning variables
	final int SCAN_RIGHT = 1;
	final int SCAN_LEFT = 2;
	double scanStart;
	double scanEnd;
	int    scanDirection = SCAN_RIGHT;
	int    scanSweeps = 10;
	int    scanStep = 5;

	
	// Movement variables
	final boolean MOVE_FORWARD = true;
	final boolean MOVE_BACKWARD = false;
	boolean moveDirection;	
	boolean damaged = false;

	public void run() {	
		setColors(Color.green, Color.black, Color.yellow);

		double distance;

		while (true) {
			distance = 50;
			// Check distance in case I get waylaid or blocked
			while (distance > 40) {
				choseCorner();
				gotoXY(cornerX, cornerY);
				distance = distanceToXY(cornerX, cornerY);
			}
			state = STATE_INCORNER;
			currentCorner = newCorner;
			scanArenaFromCorner();
			state = STATE_GOTOCORNER;
		}
	}

	public void choseCorner() {
		while (newCorner == currentCorner) {
			newCorner = (int)(Math.random()*4+1);
		}		
		switch (newCorner) {
			case 1:
				cornerX = wallMargin;
				cornerY = wallMargin;
				scanStart = -5;
				scanEnd = 95;
				break;
			case 2:
				cornerX = wallMargin;
				cornerY = getBattleFieldHeight() - wallMargin;
				scanStart = 85;
				scanEnd = 185;
				break;
			case 3:
				cornerX = getBattleFieldWidth() - wallMargin;
				cornerY = getBattleFieldHeight() - wallMargin;
				scanStart = 175;
				scanEnd = 275;
				break;
			case 4:
				cornerX = getBattleFieldWidth() - wallMargin;
				cornerY = wallMargin;
				scanStart = 265;
				scanEnd = 365;
				break;
		}
		
	}
	
	public double distanceToXY(double x, double y) {
		double xDiff = Math.abs(x - getX());
		double yDiff = Math.abs(y - getY());
		return Math.sqrt(xDiff*xDiff + yDiff+yDiff);		
	}
	
	public void scanArenaFromCorner() {
		// Start aiming
		double needToTurn = scanStart - getGunHeading();
		out.println("needToTurn=" + needToTurn + " = " + scanStart + " - " + getGunHeading());
		turnGunRight(needToTurn);
		scanDirection = SCAN_RIGHT;
		int sweeps = 0;
				
		// Determine duration of scanning from here
		if (getOthers() > 2) {
			scanSweeps = 5;
		} else { // Fewer robots, move more...
			scanSweeps = 1;
		}

		damaged = false;												

		while (sweeps < scanSweeps && !damaged) {
			if (scanDirection == SCAN_RIGHT) {
				turnGunRight(scanStep);
				if (getGunHeading() > scanEnd) {
					scanDirection = SCAN_LEFT;
					sweeps += 1;
				}
			} else {
				turnGunLeft(scanStep);
				if (getGunHeading() < scanStart) {
					scanDirection = SCAN_RIGHT;
					sweeps += 1;
				}
			}
			
		}
	}
	
	public void gotoXY(double toX, double toY) {
		
		if (getX() + toX < getWidth()) toX += (getWidth()/2);
		else if (getX() + toX > (getBattleFieldWidth() - getWidth())) toX -= (getWidth()/2);
		
		if (getY() + toY < getWidth()) toY += (getWidth()/2);
		else if (getY() + toY > (getBattleFieldHeight() - getWidth())) toY -= (getWidth()/2);
				
		double relativeToX = toX - getX();
		double relativeToY = toY - getY();
		double headingToXY = radToDeg(this.arctan(relativeToX, relativeToY));		
		double tankTurn = headingToXY - getHeading();		
		double distance = Math.sqrt(relativeToX*relativeToX + relativeToY*relativeToY);
		
		tankTurn = normalRelativeAngle(tankTurn);

		if (tankTurn > 90 || tankTurn < -90) {
			moveDirection = MOVE_BACKWARD;
		} else {
			moveDirection = MOVE_FORWARD;
		}
					
		if (moveDirection) {
			turnRight(tankTurn);
			ahead(distance);
		} else {
			turnRight(normalRelativeAngle(tankTurn-180));
			back(distance);
		}
	}
	
				
	/**
	 * onScannedRobot:  Fire!
	 */	
	public void onScannedRobot(ScannedRobotEvent e) {
		if (e.getDistance() < 50 && getEnergy() > 50)
			fire(3);
		else
			fire(1);
		if (!damaged) scan();
	}
	
	/**
	 * onHitRobot:  Aim at it.  Fire Hard!
	 */	
	public void onHitRobot(HitRobotEvent e) {
		double turnGunAmt = normalRelativeAngle(e.getBearing() + getHeading() - getGunHeading());
		turnGunRight(turnGunAmt);
		fire(3);
	}	

	/**
	 * onHitByBullet: What to do when you're hit by a bullet
	 */
	public void onHitByBullet(HitByBulletEvent e) {
			damaged = true;		
			double turnGunAmt = normalRelativeAngle(e.getBearing() + getHeading() - getGunHeading());
			turnGunRight(turnGunAmt);
			fire(3);
	}
			
	/**
	 * normalRelativeAngle:  returns angle such that -180<angle<=180
	 */
	public double normalRelativeAngle(double angle) {
		if (angle > -180 && angle <= 180)
			return angle;
		double fixedAngle = angle;
		while (fixedAngle <= -180)
			fixedAngle += 360;
		while (fixedAngle > 180)
			fixedAngle -= 360;
		return fixedAngle;
	}	

	private double normalizeAngle(double r)
		{
		while(r>Math.PI) r-=2*Math.PI;
		while(r<-Math.PI) r+=2*Math.PI;
		return r;
		}

	public double radToDeg(double rad) {
		return rad * 180.0 / Math.PI;
	}

	public double degToRad(double deg) {
		return deg * Math.PI / 180.0;
	}
	
	public double arctan( double dy, double dx) {
		if (dx == 0.0) {
			if (dy > 0.0) return Math.PI*0.5;
			else return Math.PI*1.5;
		} else {
			if ((dx > 0.0) && (dy > 0.0)) return normalizeAngle(Math.atan(dy/dx));
			else if ((dx < 0.0) && (dy > 0.0)) return normalizeAngle(Math.PI - Math.atan(dy/Math.abs(dx)));
			else if ((dx < 0.0) && (dy < 0.0)) return normalizeAngle(Math.PI + Math.atan(dy/dx));
			else return normalizeAngle(Math.PI*2 - Math.atan(Math.abs(dy)/dx));
		}
	}
	
		
}

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Last edited January 22, 2003 23:01 EST by PEZ (diff)
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