public LXXPoint getDestination(boolean newSession) {
double angle = robot.getHeadingRadians() + Math.PI / 2;
LXXPoint res1 = new LXXPoint(robot.getX(), robot.getY());
res1.x += sin(angle) * 85;
res1.y += cos(angle) * 85;
double d1 = res1.distance(robot.getBattleFieldWidth() / 2, robot.getBattleFieldHeight() / 2);
angle = robot.getHeadingRadians() - Math.PI / 2;
LXXPoint res2 = new LXXPoint(robot.getX(), robot.getY());
res2.x += sin(angle) * 85;
res2.y += cos(angle) * 85;
double d2 = res2.distance(robot.getBattleFieldWidth() / 2, robot.getBattleFieldHeight() / 2);
return d1 < d2 ? res1 : res2;
}
