/**
* When scanning a robot we need to add it to the collection of scanned objects so it can be used
* later for updates to the bots movement.
*/
public void onScannedRobot(ScannedRobotEvent e) {
double targetBearing = getHeading() + e.getBearing();
double tmpX = getX() + e.getDistance() * Math.sin(Math.toRadians(targetBearing));
double tmpY = getY() + e.getDistance() * Math.cos(Math.toRadians(targetBearing));
String name = e.getName();
if (name.equals(GOAL_NAME)) {
foundGoal = true;
}
obstacles.put(name, new Enemy(tmpX, tmpY, e.getBearing()));
setTurnRadarRight(getRadarTurnRemaining());
}
public void run() {
setAllColors(Color.GREEN);
setTurnRadarRight(Double.POSITIVE_INFINITY);
double robotX, robotY;
double robotHeading, angleToGoal, angleToObs;
double adjustment;
double obsAngle, obsAdjustment;
double angleDiff;
double speedToGoal, speedFromObs;
Enemy temp;
obstacles = new HashMap<String, Enemy>(10);
while (true) {
if (foundGoal) {
robotX = getX();
robotY = getY();
goalX = obstacles.get(GOAL_NAME).x;
goalY = obstacles.get(GOAL_NAME).y;
// Adjust robocode's returned heading so that 0 aligns with the positive x-axis instead of
// the positive y-axis.
// Also make it so that positive angle indicates a counter clockwise rotation instead of the
// clockwise style
// returned by robocode.
robotHeading = 360 - (getHeading() - 90);
angleToGoal = Math.toDegrees(Math.atan2(goalY - robotY, goalX - robotX));
if (angleToGoal < 0) {
angleToGoal += 360;
}
adjustment = angleToGoal - robotHeading;
adjustment = normalizeAngle(adjustment);
speedToGoal = calcRobotSpeedLinear(robotX, robotY, goalX, goalY);
// Calculate how the robot's heading and speed should be affected by objects that it has
// located
// as it explores the world.
Iterator it = obstacles.entrySet().iterator();
while (it.hasNext()) {
System.out.println("Iterating through objects.");
Map.Entry pairs = (Map.Entry) it.next();
// If the current item in the Iterator isn't the goal.
if (!pairs.getKey().equals(GOAL_NAME)) {
temp = (Enemy) pairs.getValue();
speedFromObs = calcObjRepulseSpeed(robotX, robotY, temp.x, temp.y);
// If the robot is in range of the object to be affected by it's repulsion.
if (speedFromObs != 0) {
obsAngle = Math.toDegrees(Math.atan2(robotY - temp.y, robotX - temp.x));
if (obsAngle < 0) obsAngle += 360;
angleDiff = obsAngle - angleToGoal;
angleDiff = normalizeAngle(angleDiff);
adjustment += (angleDiff * (speedFromObs / speedToGoal));
speedToGoal -= speedFromObs;
}
}
// Was getting a null pointer exception when using this. The internet lied about its
// usefulness.
// it.remove(); // avoids a ConcurrentModificationException
}
adjustment = normalizeAngle(adjustment);
setTurnLeft(adjustment);
// ahead(speedToGoal);
setAhead(speedToGoal);
}
execute();
}
}