1995/saxy.r

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001/*
002 
003IL programma realizzato da Dinardo Saverio
004    effettua principalmente un'operazione di scan sfruttando come
005    tecnica di mira una tecnica di restringimento del cono di
006    scan attraverso successive approssimazioni;
007    si muove solo nel caso in cui venga colpito e va ad occupare
008    in sequenza quattro punti precisi nei pressi dei bordi del campo di
009    gioco , ciascuno su di un lato del campo stesso;
010    le routine di fuoco sono due e differenziate a seconda
011    che il robot SAXY si trovi in una fase di attesa ( fermo FIND())
012    o in fase di fuga ( FUOCO()) ;
013    LA procedura di fuga � SCAPPA() e sfrutta le funzioni calcola_ang() e
014    vai() per raggiunge i punti prestabiliti dalla SCAPPA() stessa;
015 
016 
017 
018*/
019 
020 
021int d1,
022    f,
023    flag,
024    dir,      
025    x,y,x1,y1,
026    ang,
027    d,
028    range;
029 
030 
031 
032main()
033{ang=540;
034f=0;
035x=950;y=500;
036dir=calcola_ang(x,y);
037vai(x,y,dir);
038d=damage();
039while(1)
040    {
041     d=damage();
042     while ( !(range = scan(ang,4)))
043           ang+=9;
044     if(!find(ang))
045        ang+=30;
046     if(d!=damage())
047        scappa();
048   }
049}
050 
051fuoco()
052{int sfas,i,oldr;
053 oldr=range;
054 if (!(range = scan (ang, 3)))
055      {
056      if(range = scan(ang -= 6, 3))
057      sfas = -4;
058      else
059      if(range = scan(ang -= 7, 4))
060           sfas = -7;
061           else
062           if(range = scan(ang -= 12, 8))
063                 sfas = -10;
064                 else
065                 if(range = scan(ang += 31, 3))
066                    sfas = 4;
067                    else
068                    if(range = scan(ang += 7, 4))
069                     sfas  = 7;
070                     else
071                     if(range = scan(ang += 12, 8))
072                               sfas = 10;
073       }
074       else
075       sfas=0;
076 
077if((range)&&(range<710))
078        {
079        if(oldr)
080            cannon(ang+sfas,range+(range - oldr)/3);
081            else
082            cannon(ang,range);
083        }
084        else
085        if(range>850)
086        {
087        ang+=40;
088        oldr=0;
089        }       
090}
091 
092find(ang)
093int ang;
094{int r;
095 range=scan(ang,4);
096 if (range)
097    {
098    if(scan(ang-2,2))
099        ang-=2;
100        else
101        ang+=2;
102    if(scan(ang-1,1))
103        ang-=1;
104        else
105        ang+=1;
106    if(scan(ang-1,0))
107        ang--;
108        else
109        if(scan(ang+1,0))
110            ang++;
111    cannon(ang,range);
112    return(1);
113    }
114 if((range=scan(ang,4))&&(range<700))
115        {cannon(ang,range);return(1);}
116        else
117        {
118        if(scan(ang+9,4))
119            {ang +=9;return(1);}
120            else
121            if(scan(ang-9,4))
122                {ang -= 9;return(1);}
123                 else
124                 return(0);
125        }
126 
127}
128 
129scappa()
130{int xs,ys;
131f = (f + 1 + 4) % 4;
132if(f==0)
133       {xs=50;ys=500;dir=225;
134       }
135       else
136       {
137       if(f==1)
138          {xs=500;ys=950;dir=45;}
139          else
140          {
141          if(f==2)
142           {xs=950;ys=500;dir=315;}
143           else
144           {xs=500;ys=950;dir=135;}
145          }
146       }
147vai(xs,ys,dir);
148}
149 
150calcola_ang(xx,yy)
151int xx, yy;
152{
153  int d1;
154  int x,y;
155  int scale;
156  int curx, cury;
157 
158  scale = 100000;  /* scale for trig functions */
159  curx = loc_x();  /* get current location */
160  cury = loc_y();
161  x = curx - xx;
162  y = cury - yy;
163 
164  /* atan only returns -90 to +90, so figure out how to use */
165  /* the atan() value */
166 
167  if (x == 0) {      /* x is zero, we either move due north or south */
168    if (yy > cury)
169      d1 = 90;        /* north */
170    else
171      d1 = 270;       /* south */
172  } else {
173    if (yy < cury) {
174      if (xx > curx)
175    d1 = 360 + atan((scale * y) / x);  /* south-east, quadrant 4 */
176      else
177    d1 = 180 + atan((scale * y) / x);  /* south-west, quadrant 3 */
178    } else {
179      if (xx > curx)
180    d1 = atan((scale * y) / x);        /* north-east, quadrant 1 */
181      else
182    d1 = 180 + atan((scale * y) / x);  /* north-west, quadrant 2 */
183    }
184  }
185  return (d1);
186}
187 
188 
189vai(x,y,dir)
190int x;int y;int dir;
191{
192    drive(dir,100);
193    while (distanza(loc_x(),loc_y(),x,y) > 150 && speed() > 0)
194                        fuoco();
195    drive(dir,20);
196    while (distanza(loc_x(),loc_y(),x,y) > 20 && speed() > 0)
197                        ;
198    drive(dir,0);
199}
200 
201distanza(x1,y1,x2,y2)
202int x1;
203int y1;
204int x2;
205int y2;
206{
207  int x, y, d1;
208  x = x1 - x2;
209  y = y1 - y2;
210  d1 = sqrt((x*x) + (y*y));
211  return(d1);
212}