/* MARVIN - the not-so-paranoid robot */
/* Created by:
/* Andrew Broding c/o the TASK Robot Development Factory */
/* 3/7/86 */


int degree;     /* degree for motion */
int course;     /* degree for firing */

main()
{

  int old_dam;          /* last damage check */
  int range;         
  int res;              
  int srdegree;

  res = 10;             /* scan resolotion */
  degree = 180;         /* initialize degree */
  srdegree = degree;    /* initialize cannon */
  chkloc();             /* out of bounds ? */
  while(1)
  {
       old_dam = damage();
       while(old_dam == damage())
       {               
         chkloc();                      /* out of bounds ? */
         drive(degree,100);
         course = srdegree;             /* set fire direction to current scan */
         while(((range = scan(srdegree,res)) > 0) && old_dam == damage())       
         {                                      /* shoot while you can */
            if(range>40 && range<800)           /* good shooting range */
            {
                  hitem();
                  srdegree = course;
            }
            if(!chkloc())               /* change direction if necessary */
               drive(degree,100);
         }

         srdegree = srdegree - 20;      /* next degree to scan */
       }

       degree -= 90;                    /* try again */
   }
    
}  /* end of main */ 




hitem()                                  /* hit a target */

{

    int fdeg;                            /* fire degree */
    int frange;                          /* firing range */
    int index;                           

    fdeg = course - 5;                   /* set resolution to +- 5 */
    index = 2;
    while(index && !(frange=scan(fdeg,5)))
    {    fdeg += 10;
         --index;
    }
    if(!frange)                         /* lost him */
         return 0;

    if(frange>40 && frange<800)          /* good shooting range */
       cannon(fdeg,frange);

    fdeg -= 4;                           /* set resolution +- 1 */
    index = 4;
    while(index && !(frange=scan(fdeg,1)))
    {    fdeg += 3;
         --index;
    }

    if(!frange)                          /* lost him */
         return 0;

    if(frange>40 && frange<800)          /* good shooting range */
       cannon(fdeg,frange);

    fdeg -= 1;                           /* set resolution +- 0 */
    index = 3;
    while(index && !(frange=scan(fdeg,0)))
    {    ++fdeg;
         --index;
    }

    if(!frange)                          /* lost him */
         return 0;

    if(frange>40 && frange<800)          /* good shooting range */
    {
       cannon(fdeg,frange);
       cannon(fdeg,frange);
    }
    course = fdeg;
    return frange;

}



chkloc()

/*  redirect robot to new degree if its nearing a wall */

{

    if(loc_x() < 200)                             /* left side */
    {
        if(loc_y() < 200)                         /* bottom left */
           degree = 45;
        else
        {
          if(loc_y() > 800)                       /* top left */
              degree = 315;
          else
              degree = 0;
        }    
       return(0);
    }

   if (loc_x() > 800)                             /* right side */
   {
      if(loc_y() < 200)                           /* bottom right */
         degree = 125;
      else
      {
         if(loc_y() > 800)                        /* top right */
           degree = 225;
         else
           degree = 180;
      }    
      return(0);
   }

   if(loc_y() < 200)                              /* bottom side */
   {
      if(loc_x() < 200)
         degree = 45;
      else
      {
         if(loc_x() > 800)
           degree = 125;
         else
           degree = 90;
      }    
       return(0);
   }

  if (loc_y() > 800)                              /*  top side */
  {
      if(loc_x() < 200)
         degree = 315;
      else
      {
        if(loc_x() > 800)
           degree = 225;
        else
           degree = 270;
      }    
       return(0);
  }

  return(1);
  
}


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