History of TeamStrategy

		public void run() {
 			// each turn, find the most outdated scan
 			if(target == null) {
 				Lib.Other oldest = data.getOldest();
 				if(lastTarget == null ||
 						oldest.getSource() == Lib.Other.Source.SCAN ||
 						oldest.getAge(robot) - lastTarget.getAge(robot) > 3) {
 					target = oldest;
 				}
 				else {
 					target = lastTarget;
 				}
 			}
 			// default radar turn is spin in circles forever
 			double radarTurn = Double.POSITIVE_INFINITY;
 			// if (a) we have an oldest enemy
 			//    (b) the scan of them is vaguely recent
 			//    (c) we have at least a little bit of
 			//        data on ALL the robots on the field
 			if(target != null && 
 					target.getAge(robot) <= 9 &&
 					data.allKnown()) {
 				// turn the radar to the most outdated enemy
 				// to refresh our data on them
 				radarTurn = Utils.normalRelativeAngle(robot.getRadarHeadingRadians()
 						- GeoUtils.getAbsoluteBearing(robot.getLocation(), 
 								target.guess(robot)));
 				
 				// multiply the radar turn by the turn factor
 				// of 2.2 to create a larger arc
 				radarTurn *= 2.2;
 			}
 			// make the turn
 			robot.setTurnRadarLeftRadians(radarTurn);
 			// reset the target
 			lastTarget = target;
 			target = null;
 		}