Starrynte/Knowledge

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


public class Knowledge extends AdvancedRobot
{
	static StringBuffer headDelta;
	static StringBuffer velocity;
	double lastHeading=0;
	Point2D.Double predictedPos=new Point2D.Double();

	/**
	 * run: Knowledge's default behavior
	 */
	public void run() {
		if(getRoundNum()==0){
			headDelta=new StringBuffer();
			velocity=new StringBuffer();
		}
		setTurnRadarRightRadians(Double.POSITIVE_INFINITY);
		// After trying out your robot, try uncommenting the import at the top,
		// and the next line:
		setColors(Color.WHITE,Color.BLACK,new Color(0,255,0));
		
		setAdjustGunForRobotTurn(true);
		setAdjustRadarForGunTurn(true);
		doNothing();
	}


	
	public void onScannedRobot(ScannedRobotEvent e) {
		double myX=getX();
		double myY=getY();
		double myHeading=getHeadingRadians();
		double myGunHeading=getGunHeadingRadians();		
		headDelta.append( (char)(int)(e.getHeadingRadians()-lastHeading) );
		velocity.append( (char)(int)(e.getVelocity()) );
		lastHeading=e.getHeadingRadians();
		
		if(headDelta.length()>10 && getGunHeat()/getGunCoolingRate()<5){
			double bulletPower=3;
			String currentH=headDelta.toString().substring(headDelta.length()-7);
			String currentV=velocity.toString().substring(velocity.length()-7);
			int startIndex=-1;
			for(int i=0;i+7<=headDelta.length();i++){
				if(headDelta.toString().substring(i,i+7).equals(currentH) &&
					velocity.toString().substring(i,i+7).equals(currentV)){
					startIndex=i+7;
					break;
				}
			}
			if(startIndex==-1){
				setTurnGunRightRadians(normalRelativeAngle(e.getBearingRadians()+myHeading-myGunHeading));
			}else{
				double bD=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.toString().charAt(index));
					double dX=Math.sin(eH) * ((double)(int)velocity.toString().charAt(index));
					double dY=Math.cos(eH) * ((double)(int)velocity.toString().charAt(index));
					
					eX+=dX;
					eY+=dY;
					if(distance(myX,myY,eX,eY)<=bD){
						setTurnGunRightRadians(normalRelativeAngle(Math.atan2(eX-myX,eY-myY)-myGunHeading));
						out.println(":)");
						break;
					}
					bD+=20-(3*bulletPower);
				}
				predictedPos.setLocation(eX,eY);
			}
			
			if(getGunHeat()==0d){
				setFire(bulletPower);
			}
		}else{
			setTurnGunRightRadians(normalRelativeAngle(e.getBearingRadians()+myHeading-myGunHeading));
		}
		setTurnRadarRightRadians(normalRelativeAngle(e.getBearingRadians()+myHeading-getRadarHeadingRadians())*2);
		scan();
		execute();
	}

	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 ((angle + 15.7079633) % 6.2831853) - Math.PI;
	}
	
	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. --Starrynte