/*PeriZoom Killer robot by Ralph Seiler 73765,264.

   An inherent weakness in PeriZoom is that it always passes
along a certain path at a constant speed. That makes it easy
prey for a robot like this. PZK wins in match play against
PeriZoom about 95% of the time. Of course it loses to **any**
other robot 100% of the time. */

main()
{
int range, angle;
int flag;

/*Not everything worth doing is worth doing well:
set course to top center, stop by running into the wall*/

angle=plot_course();
drive(angle,100);
flag=0;

  while (1) {

    while (flag==0) {
/*When PeriZoom is right in front of me. The scan has a problem since it misses
PeriZoom if he is firing right in front of me. Could this be raising electronic
dust that is fouling my sensors? */
      range = scan(270,5);
      if (range>0) {
           cannon(261,range);
           flag=1;}}

    while (flag==1) {
/*When PeriZoom is on left side of arena*/
      range = scan(200,5);
      if (range>400) {
           range=(103*range)/100;   /*1.03 is the ratio of cos(scan angle)*/
           cannon(204,range);      /*and cos(fire angle) */
           flag=2;}}

    while (flag==2) {
/*When PeriZoom is on right side of arena*/
      range = scan(330,5);
      if (range>0) {
           range=(97*range)/100;
           cannon(333,range);
           flag=0;}}
}}

/* find the heading we need to get to the top. pretty much straight from
     sniper.r */
plot_course() {
  int d;
  int temp_x,temp_y;
  int scale;
  scale = 100000;

  temp_x = loc_x() - 500;
  temp_y = loc_y() - 1000;

  if (temp_x == 0) {
      d = 90;
  } else {
      if (temp_x<0)
        d = atan((scale * temp_y) / temp_x);
      else
        d = 180 + atan((scale * temp_y) / temp_x);
    }
  return (d);
}
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