aminet/blindschl.r

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001/*Sirius Cybernetic
002Felix Buebl & Michael Balser
003 This robot does
004   a) move randomly
005   b) search vor the enemy (360 degree scan!)
006   c) try to watch() it where it is moving to (calculate it's heading)
007   d) fire at it
008 
009*/
010 
011/* the robot's own data: */
012int degree, turn;
013/* enemies has the following meaning:
014     0:  Robot is searching for an enemie
015   ++1:  Robot has found  # enemies
016   */
017int enemies;
018/* this "array" stores the coords where the current enemie has been last */
019int x1, y1, x2, y2;
020 
021 
022main()
023{
024/* initialize */
025enemies = turn = degree = x1 = y1  = y2 = 0;
026x2 = 1234;
027 
028while (666 != 42) /* for ever */
029      {
030       move();  /* is invoked EVERY loop! */
031 
032       if (!enemies)
033          search();
034       else
035          {
036           if (x2 == 1234)
037              watch();
038           else
039              terminate();
040          }
041      }
042}
043 
044move ()
045{
046/* IF we are close to a wall: Retreat 8c) */
047 
048 
049if (loc_x() > 700)
050   {
051    degree =  160 + rand(40);
052       drive (degree, 100);
053    return;
054   }
055 
056if (loc_x() < 300)
057   {
058    degree =  -20 + rand(40);
059    drive (degree, 100);
060    return;
061   }
062 
063if (loc_y() > 700)
064   {
065    degree =  250 + rand(40);
066    drive (degree, 100);
067    return;
068   }
069 
070if (loc_y() < 300)
071   {
072    degree =  70 + rand(40);
073    drive (degree, 100);
074    return;
075   }
076 
077/* if the ran into some enemie, retreat */
078 
079if (!speed())
080   {
081    degree -= 180;
082    drive (degree, 100);
083    return;
084   }
085 
086/* if we are not close to a wall, PERHAPS change movent */
087 
088 
089 
090/* if we want to turn, do it */
091 
092if (turn && speed() >= 50 )
093    drive (degree, 42);
094 
095if (turn && speed() < 50)
096   {
097   degree += turn;
098   turn = 0;
099   drive (degree, 100);
100   }
101 
102if (!turn && x2 != 1234)
103   {
104    drive (degree, 100);
105   }
106 
107 
108if (rand(21) == 1  && !turn  )
109   {
110   if (degree > 180)
111      turn = (-1)*rand(10)*6 + 30;
112   else
113      turn = rand (10)*6 -30;
114   }
115return;
116}
117 
118 
119search ()
120{
121int i, range, dir;
122 
123/* do a partially 360 degrees scan first in order to find a enemie */
124i=18;
125 
126while (i > 0)
127    {
128     if (range = scan ( i*20, 10) )
129     if (range < 850 )
130        {
131         dir =  i*20;
132         enemies = 1;
133         i=0; /*break*/
134        }
135     --i;
136    }
137 
138if (!enemies)
139    return;
140 
141/* now get the exact position */
142 
143i= -6;
144while ( i<= 6)
145  {
146   if ( range = scan ( dir + i*3, 1))
147      {
148       dir += i*3;
149       i = 42; /* break */
150      }
151   ++i;
152  }
153/* evaluate the coords */
154 
155x1 = loc_x() + cos(dir)*range/100000;
156y1 = loc_y() + sin(dir)*range/100000;
157x2 = 1234;
158return;
159 
160}
161 
162watch()
163{
164 int scandir, newrange, i;
165 int xh,yh;
166 
167 xh=loc_x()-x1;
168 yh=loc_y()-y1;
169 
170 if (xh>0)
171     scandir = atan (yh*100000/xh) + 180; /* +-90 */
172 else
173     scandir = atan (yh*100000/xh);
174 
175 if (scandir < 0)
176    scandir += 360;
177 
178 i=0;
179 while ((! (newrange = scan (scandir+i*10, 5)) ) &&  i< 3 )
180       {
181        if (i <= 0)
182           i  = -i+1;
183        else
184           i *= -1;
185 
186       }
187 
188 if (!newrange)
189    {
190     enemies = 0;
191     return;
192    }
193 scandir += i*10;
194 
195 i=0;
196 while (( ! (newrange = scan (scandir + i*3, 1)) ) && i < 2)
197       {
198        if ( i <= 0)
199           i = -i +1;
200        else
201           i *= -1;
202       }
203 scandir += i*3;
204/*
205 if ( sqrt ((x2-x1)*(x2-x1) + (y2-y1)*(y2-y1)) > 123)
206    {
207    enemies = 0;
208    x2 = 1234;
209    }
210*/
211    x2 = loc_x() + cos (scandir)*newrange/100000;
212    y2 = loc_y() + sin (scandir)*newrange/100000;
213 drive (degree, 0);
214 
215 return;
216}
217 
218terminate()
219{
220int xt, yt, xh, yh, shootdir, shootrange;
221 
222xt = x2 + x2-x1;
223yt = y2 + y2-y1;
224 
225 if (xt-loc_x() < 0)
226     shootdir = atan ((yt-loc_y())*100000/(xt-loc_x())) + 180; /* +-90 */
227 else
228     shootdir = atan ((yt-loc_y())*100000/(xt-loc_x()));
229 
230 if (shootdir < 0)
231    shootdir += 360;
232 
233 xh=xt-loc_x();
234 yh=yt-loc_y();
235 if ( (shootrange = sqrt(xh*xh + yh*yh)) > 721)
236    {
237     y1 = y2;
238     x1 = x2;
239     return;
240    }
241 
242 
243 cannon (shootdir, shootrange);
244 y1 = y2;
245 x1 = x2;
246 x2 = 1234;
247 
248 return;
249}