Starrynte/Knowledge

package ntc;
import robocode.*;
import java.awt.geom.*;
import java.awt.Graphics2D;
import java.awt.Color;


public class Knowledge extends AdvancedRobot
{
	static String headDelta;
	static String velocity;
	double lastHeading=0;
	Point2D.Double predictedPos=new Point2D.Double();
	int direction = 1;
	
	/**
	 * run: Knowledge's default behavior
	 */
	public void run() {
		if(getRoundNum()==0){
			headDelta="";
			velocity="";
		}
		setTurnRadarRightRadians(Double.POSITIVE_INFINITY);
		setFire(0.1);
		setColors(Color.WHITE,Color.BLACK,Color.GREEN);
		
		setAdjustGunForRobotTurn(true);
		setAdjustRadarForGunTurn(true);
		
		double currentDirection=18D;
		double maxX = getBattleFieldWidth()-currentDirection;
		double maxY = getBattleFieldHeight()-currentDirection;
		double futureX, futureY;
		currentDirection=45;
		while(true){
			double time = getTime();
			double ahead = currentDirection*(Math.sin(time/17D)-Math.cos(time/23D));
			setAhead(ahead);
			execute();
			futureX = ahead*Math.sin(getHeadingRadians())+getX();
			futureY = ahead*Math.cos(getHeadingRadians())+getY();
			if (futureX < 18D || futureY < 18D || futureX > maxX || futureY > maxY){
				currentDirection = -currentDirection;
			}
			scan();
			execute();
		}
	}


	
	public void onScannedRobot(ScannedRobotEvent e) {
		setTurnRightRadians(normalRelativeAngle(Math.PI/2-e.getBearingRadians()));
		double myX=getX();
		double myY=getY();
		double myHeading=getHeadingRadians();
		double myGunHeading=getGunHeadingRadians();		
		headDelta += (char)(int)(e.getHeading()-lastHeading);
		velocity += (char)(int)(e.getVelocity());
		lastHeading=e.getHeading();		
		if(headDelta.length()>50 && getGunHeat()/getGunCoolingRate()<4){
			double bulletPower=2.5;
			String currentH=headDelta.substring(headDelta.length()-7);
			String currentV=velocity.substring(velocity.length()-7);
			int startIndex=-1;
			double diff=Double.POSITIVE_INFINITY;
			
			for(int i=0;i+7<=headDelta.length()-14;i++){
				double thisDiff=0;
				if(headDelta.substring(i,i+7).equals(currentH) &&
					velocity.substring(i,i+7).equals(currentV)){
					startIndex=i+7;
					break;
				}
				for(int j=0;j<currentH.length();j++){
					thisDiff+=Math.pow(((double)(int)currentH.charAt(j))-((double)(int)headDelta.substring(i,i+7).charAt(j)),2);
					thisDiff+=Math.pow(((double)(int)currentV.charAt(j))-((double)(int)velocity.substring(i,i+7).charAt(j)),2);
				}
				if(thisDiff<diff && thisDiff/3<1){
					startIndex=i+7;
					diff=thisDiff;
				}
			}
			if(startIndex==-1){
				setTurnGunRightRadians(normalRelativeAngle(e.getBearingRadians()+myHeading-myGunHeading));
			}else{
				double bD=0;
				double bT=0;
				double eX=myX+Math.sin(e.getBearingRadians()+myHeading)*e.getDistance();
				double eY=myY+Math.cos(e.getBearingRadians()+myHeading)*e.getDistance();
				double eH=e.getHeadingRadians();
				int index=startIndex;
				double battleFieldWidth=getBattleFieldWidth();
				double battleFieldHeight=getBattleFieldHeight();
				while((++index)<headDelta.length()-1){
					eH+=((double)(int)headDelta.charAt(index));
					double dX=Math.sin(Math.toRadians(eH)) * ((double)(int)velocity.charAt(index));
					double dY=Math.cos(Math.toRadians(eH)) * ((double)(int)velocity.charAt(index));
					
					eX+=dX;
					eY+=dY;
					if(distance(myX,myY,eX,eY)<=bD){
						setTurnGunRightRadians(normalRelativeAngle(Math.atan2(eX-myX,eY-myY)-myGunHeading));
						bulletPower=(20-(distance(myX,myY,eX,eY)/bT))/3;
						break;
					}
					bD+=Rules.getBulletSpeed(bulletPower);
					bT++;
				}
				predictedPos.setLocation(eX,eY);
			}
			
			if(getGunHeat()==0d){
				setFire(bulletPower);
			}
		}else{
			setTurnGunRightRadians(normalRelativeAngle(e.getBearingRadians()+myHeading-myGunHeading));
			if(getGunHeat()==0d){
				setFire(3);
			}
		}
		double radarAmt=normalRelativeAngle( getHeadingRadians() + e.getBearingRadians() - getRadarHeadingRadians());
		radarAmt += (radarAmt < 0.0 ? Math.atan( -18 / e.getDistance()) : Math.atan( 18 / e.getDistance()));
		setTurnRadarRightRadians(radarAmt);
	}

	public void onPaint(Graphics2D g){
		g.setColor(Color.GREEN);
		g.fillOval((int)predictedPos.getX(),(int)(getBattleFieldHeight()-predictedPos.getY()),10,10);
	}

	public double normalRelativeAngle(double angle) {
		//taken from OddBot
		return robocode.util.Utils.normalRelativeAngle(angle);
	}
	
	public double distance( double x1,double y1, double x2,double y2 ) {
                double xo = x2-x1;
                double yo = y2-y1;
                double h = Math.sqrt( xo*xo + yo*yo );
                return h;
        }
}

The onPaint and out.println(":)"); are for debugging. I need them, because it is not workingfor some reason i don't know! (i think it has something to do with the finding of the start index)--Starrynte