public void move() {
if (last_move_time == null || last_move_time.doubleValue() < world.time) {
last_move_time = new Double(world.time);
double max_dist, dist_right, dist_left, theta, x, y, dist_diff;
double delta_theta, turn_radius, new_theta, new_x, new_y;
Location location;
Orientation orientation;
orientation = orientation();
location = location();
max_dist = max_speed / world.ticks_per_second;
dist_right = right_motor.output() * max_dist;
dist_left = left_motor.output() * max_dist;
theta = orientation.theta;
x = location.x;
y = location.y;
old_location.x = x;
old_location.y = y;
dist_diff = dist_right - dist_left;
// System.out.println("dist_diff: " + dist_diff);
delta_theta = dist_diff / wheel_base;
if (Math.abs(dist_diff) < .0001) {
turn_radius = 0.0;
} else {
turn_radius = (dist_right / delta_theta) - (wheel_base / 2);
}
// System.out.println("turn_radius: " + turn_radius);
new_theta = theta + delta_theta;
if (turn_radius == 0.0) {
// System.out.println("turn_radius == 0");
new_x = x + Math.cos(theta) * dist_left;
new_y = y + Math.sin(theta) * dist_left;
} else {
// System.out.println("new_theta= " + new_theta + " theta= " + theta);
new_x = x + ((Math.sin(new_theta) - Math.sin(theta)) * turn_radius);
new_y = y - ((Math.cos(new_theta) - Math.cos(theta)) * turn_radius);
}
orientation.theta = new_theta;
location.x = new_x;
location.y = new_y;
maybe_fire_guns();
}
}
