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;
}
