Example #1
0
 public void evaluateWallStick() {
   _wallStick = (ScanLog.enemyIsRammer()) ? RAMMER_WALL_STICK : DEFAULT_WALL_STICK;
 }
Example #2
0
  public void surf() {
    RobotState currentState =
        new RobotState(
            ScanLog.myLocation(),
            _robot.getHeadingRadians(),
            _robot.getVelocity(),
            _robot.getTime());
    boolean goingClockwise = (_lastMovementChoice == CLOCKWISE_OPTION);

    double orbitCounterClockwiseDanger =
        checkDanger(
            currentState, COUNTERCLOCKWISE_OPTION, goingClockwise, FIRST_WAVE, WAVES_TO_SURF);
    double stopDanger =
        checkDanger(currentState, STOP_OPTION, goingClockwise, FIRST_WAVE, WAVES_TO_SURF);
    double orbitClockwiseDanger =
        checkDanger(currentState, CLOCKWISE_OPTION, goingClockwise, FIRST_WAVE, WAVES_TO_SURF);

    int goOrientation = _lastMovementChoice;

    Wave orbitWave = findSurfableWave(FIRST_WAVE);
    double orbitAbsBearing, distanceToClosestWaveSource;

    try {
      distanceToClosestWaveSource = ScanLog.myLocation().distance(orbitWave.sourceLocation);
      orbitAbsBearing = DUtils.absoluteBearing(orbitWave.sourceLocation, ScanLog.myLocation());
    } catch (NullPointerException noSurfableWaves) {
      distanceToClosestWaveSource = ScanLog.getLastDistance();
      orbitAbsBearing = ScanLog.getLastEnemyScan().getAbsBearingRadians();
    }

    double goAngle, attackAngle;
    if (stopDanger == NO_SURFABLE_WAVES) {
      attackAngle = -1.047;
      _robot.setMaxVelocity(8);

      double goAngleCcw =
          orbitAbsBearing + (COUNTERCLOCKWISE_OPTION * ((Math.PI / 2) + attackAngle));
      goAngleCcw =
          wallSmoothing(
              ScanLog.myLocation(),
              goAngleCcw,
              COUNTERCLOCKWISE_OPTION,
              distanceToClosestWaveSource);

      double goAngleCw = orbitAbsBearing + (CLOCKWISE_OPTION * ((Math.PI / 2) + attackAngle));
      goAngleCw =
          wallSmoothing(
              ScanLog.myLocation(), goAngleCw, CLOCKWISE_OPTION, distanceToClosestWaveSource);

      if (Math.abs(Utils.normalRelativeAngle(goAngleCw - orbitAbsBearing))
          < Math.abs(Utils.normalRelativeAngle(goAngleCcw - orbitAbsBearing))) {
        goOrientation = CLOCKWISE_OPTION;
        goAngle = goAngleCw;
      } else {
        goOrientation = COUNTERCLOCKWISE_OPTION;
        goAngle = goAngleCcw;
      }
    } else {
      _robot.setMaxVelocity(8);
      attackAngle = _currentDistancer.attackAngle(distanceToClosestWaveSource, _desiredDistance);

      if (ScanLog.enemyIsRammer()
          && ScanLog.getLastDistance() < 300
          && orbitWave != NO_WAVE_FOUND) {
        if (Utils.normalRelativeAngle(
                DUtils.absoluteBearing(ScanLog.myLocation(), orbitWave.sourceLocation)
                    - ScanLog.getLastScan().getAbsBearingRadians())
            > 0) {
          goOrientation = -1;
        } else {
          goOrientation = 1;
        }
      } else if (stopDanger <= orbitCounterClockwiseDanger
          && stopDanger <= orbitClockwiseDanger
          && !ScanLog.enemyIsRammer()) {

        _robot.setMaxVelocity(0);
      } else {
        if (orbitClockwiseDanger < orbitCounterClockwiseDanger) {
          goOrientation = CLOCKWISE_OPTION;
        } else {
          goOrientation = COUNTERCLOCKWISE_OPTION;
        }
      }

      goAngle = orbitAbsBearing + (goOrientation * ((Math.PI / 2) + attackAngle));
      goAngle =
          wallSmoothing(ScanLog.myLocation(), goAngle, goOrientation, distanceToClosestWaveSource);
    }

    DUtils.setBackAsFront(_robot, goAngle);

    _lastMovementChoice = goOrientation;
  }