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;
![[Home]](/images/RoboWiki.png)
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));
}
}
}