public void onScannedRobot(ScannedRobotEvent e) {
// ...
// if(getRadarHeadingRadians() - getGunHeading() == 0)
// fire(1);
// Absolute angle towards target
double angleToEnemy = getHeadingRadians() + e.getBearingRadians();
// Subtract current radar heading to get the turn required to face the enemy, be sure it is
// normalized
double radarTurn = Utils.normalRelativeAngle(angleToEnemy - getRadarHeadingRadians());
// Distance we want to scan from middle of enemy to either side
// The 36.0 is how many units from the center of the enemy robot it scans.
double extraTurn = Math.min(Math.atan(5.0 / e.getDistance()), Rules.RADAR_TURN_RATE_RADIANS);
// Adjust the radar turn so it goes that much further in the direction it is going to turn
// Basically if we were going to turn it left, turn it even more left, if right, turn more
// right.
// This allows us to overshoot our enemy so that we get a good sweep that will not slip.
radarTurn += (radarTurn < 0 ? -extraTurn : extraTurn);
// Turn the radar
setTurnRadarRightRadians(radarTurn);
// is the enemy left or right of us
double distance = getRadarHeading() - getGunHeading();
double[] wert = {distance};
// setTurnGunLeft(encog.Adjust.predict(NETWORK, wert));
if (distance < 0) setTurnGunRight(distance);
if (distance >= 0) setTurnGunRight(distance);
// System.out.println(distance);
// if enemy is within fire range -> fire
// if (getGunHeading() > getRadarHeading()-2 && getGunHeading() < getRadarHeading()+2)
setFire(1);
System.out.println("gunheat:" + getGunHeat());
if (getGunHeat() == 1.2) {
LIST.add(getTime());
System.out.println("distance: " + LIST);
// int shouldHit = (int) (getTime() + (e.getDistance() / 17));
// System.out.println("when should it hit: " + shouldHit);
}
if (LIST.size() != 0) {
if (LIST.get(0) + (getTime() - LIST.get(0)) * VELOCITY > e.getDistance()) {
System.out.println("did you hit?: " + getTime());
LIST.remove(0);
}
}
execute();
}
private void goTo(Point2D destination) {
double angle =
Utils.normalRelativeAngle(
absoluteBearing(robotLocation, destination) - getHeadingRadians());
double turnAngle = Math.atan(Math.tan(angle));
setTurnRightRadians(turnAngle);
setAhead(robotLocation.distance(destination) * (angle == turnAngle ? 1 : -1));
// Hit the brake pedal hard if we need to turn sharply
setMaxVelocity(Math.abs(getTurnRemaining()) > 33 ? 0 : MAX_VELOCITY);
}