EightBot.java

/* -*- mode: java; compile-command: "javac -classpath /usr/share/java/robocode.jar EightBot.java; robocode -battle /home/simen/.robocode/battles/eightbot-vs-crazy.battle" -*- */

import robocode.*;
import java.util.*;
import java.awt.Color;
import static java.lang.Math.*;

public class EightBot extends AdvancedRobot {

    final int TOLLERANCE  = 10;
    final int EIGHT_SIZE  = 6;

    final int GOTO_CENTER = 0;
    final int DRAW_EIGHT  = 1;

    int state;
    int turnDirection = 1;

    void changeState(int state) {
	setColors(Color.BLACK, Color.WHITE, Color.WHITE);
	switch (state) {
	case GOTO_CENTER: break;
	case DRAW_EIGHT:  setMaxVelocity(EIGHT_SIZE); break;
	default:          break;
	};
	this.state = state;
    }

    double normalizeAngle(double angle) {
	if (angle > 90) return 360 - (angle - 90);
	else if (angle > 0) return 90 - angle;
	else return 90 + abs(angle);
    }

    void goto_center() {
	double x = getX();
	double y = getY();
	double cx = getBattleFieldWidth() / 2;
	double cy = getBattleFieldHeight() / 2;
	double dist = sqrt(pow(x - cx, 2) + pow(y - cy, 2));

	if (dist < TOLLERANCE) {
	    changeState(DRAW_EIGHT);
	} else {
	    double angle = atan2(y - cy, x - cx) * 180 / PI;
	    double turn = (getHeading() - normalizeAngle(angle) + 180) % 360;
	    turnLeft(turn);
	    ahead(dist);
	}
    }

    void draw_eight() {
	setAhead(40000);
	setTurnRight(360);
	waitFor(new TurnCompleteCondition(this));
	setTurnLeft(360);
	waitFor(new TurnCompleteCondition(this));
    }

    public void run() {
	// setAdjustRadarForGunTurn(true);
	// setTurnRadarRightRadians(Double.POSITIVE_INFINITY);
	setColors(Color.BLACK, Color.WHITE, Color.WHITE);

	state = GOTO_CENTER;
	while (true) {
	    switch (state) {
	    case GOTO_CENTER: goto_center(); break;
	    case DRAW_EIGHT:  draw_eight();  break;
	    default:          break;
	    };
	}
    }

    public void onHitWall(HitWallEvent e) {
	// Never happens, lol!
    }

    public void onHitRobot(HitRobotEvent e) {
	if (e.getBearing() >= 0) {
	    turnDirection = 1;
	} else {
	    turnDirection = -1;
	}
	setTurnRight(e.getBearing());

	if (e.getEnergy() > 16) {
	    fire(3);
	} else if (e.getEnergy() > 10) {
	    fire(2);
	} else if (e.getEnergy() > 4) {
	    fire(1);
	} else if (e.getEnergy() > 2) {
	    fire(.5);
	} else if (e.getEnergy() > .4) {
	    fire(.1);
	}

	setAhead(40);

	changeState(GOTO_CENTER);
    }

    public void onScannedRobot(ScannedRobotEvent e) {
	double distance = e.getDistance();

	if (distance < 20)
	    fire(3);
	else if (distance < 50)
	    fire(2);
	else
	    fire(.1);

	// found robot, time to RAM!
	if (distance < 150) {
	    setAllColors(Color.RED);
	    if (e.getBearing() >= 0)
		turnDirection = 1;
	    else
		turnDirection = -1;

	    setTurnRight(e.getBearing());
	    if (e.getDistance() > 50)
		setAhead(e.getDistance() / 2);
	    else
		setAhead(e.getDistance() + 5);
	    scan();
	} else {
	    changeState(GOTO_CENTER);
	}
    }
}