History of CodeSnippets/Nano Circular Linear Predictor

 package chase.nano;
 
 import static java.lang.Math.*;
 import robocode.*;
 
 public class NanoCircle extends AdvancedRobot {
 	public static double lastX, lastY, lastHeading;
 	
 	public void run() {
 		lastX = lastY = 0;
 		while(true) {
 			setTurnRadarRightRadians(Double.POSITIVE_INFINITY);
 		}
 	}
 	
 	public void onScannedRobot(ScannedRobotEvent e) {
 		double absAngle, x, y, heading;
 		
 		absAngle = e.getBearingRadians() + getHeadingRadians();
 		x = getX() + sin(absAngle) * e.getDistance();
 		y = getY() + cos(absAngle) * e.getDistance();
 		heading = e.getHeadingRadians();
 		
 		if(lastX != 0) {
 			//the lines, unmutilated
 			//b=-tan(heading + PI/2)*x+y
 			//lastB=-tan(lastHeading + PI/2)*lastX+lastY
 			double m1,m2,b1,r, circleX;;
 			double circleY = (circleX = ((m2=-tan(heading + PI/2))*x+y - 
 					(b1=(m1=-tan(lastHeading + PI/2))*lastX+lastY))
 					/ (m1 - m2))*m1+b1;
 			//the radius, fyi
 			r = sqrt((circleX-x)*(circleX-x)+(circleY-y)*(circleY-y));
 			
 			//yay, I found the center, now to project along it
 			//.. I kinda got lost here, but I would think find
 			//where the bullet can intercept the robot
 		}
 		
 		lastX = x;
 		lastY = y;
 		lastHeading = heading;
 		
 		setTurnRadarLeftRadians(getRadarTurnRemainingRadians());
 	}
 }