/*

Misdemeanor (si', l'estensione fa parte del nome del robot) e' un vecchio Jedi rottamato
con un innesto di Flash9 nel 3vs3.

Olga S

*/

int
    ang,
    oang,
    range,
    orange,   /* Variabili di puntamento                              */
    d,dmax,   /* Variabili temporanee salva danni subiti              */
    dir,      /* Direzione del cammino                                */
    posx,     /* Variabili ad 1 bit                                   */
    posy,     /* salva posizione                                      */
    dist,     /* Distanza dal corner                                  */
    flag,     /* Bit-oriented flag per la gestione del movimento      */
    timer,    /* Timer per il conteggio dei nemici                    */
    enemies,  /* Conta nemici superstiti                              */
    t,b,      /* Timer oscillazione                                   */
    td,tl,    /* Variabili di utilità                                 */
    deg1,     /* Limite inferiore di scansione per contare i nemici   */
    deg2;     /* Limite superiore di scansione per contare i nemici   */

stop()
{
  fire2(drive(dir,t=0));  
  while(speed()>59) ;
}

radar() /* Conta nemici fast */
{
  enemies=3
  -(scan(deg1,    10)!=0)
  -(scan(deg1+20, 10)!=0)
  -(scan(deg1+40, 10)!=0)
  -(scan(deg1+60, 10)!=0)
  -(scan(deg1+80, 10)!=0)
  -(scan(deg1+100,10)!=0)
  ;
}

runX()
{
  dir=180*!posx;
  if(posx) { while(loc_x()<900) fire3(dir,100); while(loc_x()<950) drive(dir,100); }
  else     { while(loc_x()>100) fire3(dir,100); while(loc_x()> 50) drive(dir,100); }
  stop();
}

runY()
{
  dir=270-180*posy;
  if(posy) { while(loc_y()<900) fire3(dir,100); while(loc_y()<950) drive(dir,100); }
  else     { while(loc_y()>100) fire3(dir,100); while(loc_y()> 50) drive(dir,100); }
  stop();
}

corner()
{
  if (speed()) stop(); if (flag^posx^posy) runY(runX()); else runX(runY());
}

fire(dir) /* Many thanks to Daniele Nuzzo */
{
  int asin,acos;
  /*if (safe) return;*/
  if (speed()<100) drive(dir,100); 
      
  if (scan(ang,10)>150)
  {  
      asin=(sin(ang-dir)/14384);
      acos=(cos(ang-dir)/3796)-230;

      ang-=18*(scan(ang-18,10)>0);  
      ang+=18*(scan(ang+18,10)>0); 

      if(scan(ang-16,10)) ang-=8;
      else if(scan(ang+16,10)) ang+=8;
      if(scan(ang-12,10)) ang-=4;
      else if(scan(ang+12,10)) ang+=4;
      if(scan(ang-11,10)) ang-=2;
      if(scan(ang+11,10)) ang+=2;

      if (orange=scan(oang=ang,3))
        {
            if(scan(ang-13,10)) ang-=5;
            else if(scan(ang+13,10)) ang+=5; 
            if(scan(ang+12,10)) ang+=4;
            else if(scan(ang-12,10)) ang-=4;
            if(scan(ang-11,10)) ang-=2;
            if(scan(ang+11,10)) ang+=2;

            cannon(ang+(ang-oang)*((880+(range=scan(ang,10)))/482)-asin,
                   range*230/(orange-range-acos)); 
        }  else search(); 
  } else search();  
}

search()
{
  if (scan(ang-=350,10)) return fire2();
  if (scan(ang-=20,10))  return fire2();
  if (scan(ang-=320,10)) return fire2();
  if (scan(ang-=60,10))  return fire2();
  if (scan(ang-=280,10)) return fire2();
  if (scan(ang-=100,10)) return fire2();
  if (scan(ang-=240,10)) return fire2();
  if (scan(ang-=140,10)) return fire2();
  if (scan(ang-=200,10)) return fire2();
  if (scan(ang-=180,10)) return fire2();
  if (scan(ang-=160,10)) return fire2();
  if (scan(ang-=220,10)) return fire2();
  if (scan(ang-=120,10)) return fire2();
  if (scan(ang-=260,10)) return fire2();
  if (scan(ang-=80,10))  return fire2();
  if (scan(ang-=300,10)) return fire2();
  if (scan(ang-=40,10))  return fire2();
  if (scan(ang-=340,10)) return fire2();
}

fire2()
{
    if (range=scan(oang=ang,10))
    {
        if (scan(ang-8,5))
        {
            if (scan(ang-=5,2)) ;
            else ang-=4;
        }
        else
        {
            if (scan(ang+8,5))
            {
                if (scan(ang+=5,2)) ;
                else ang+=4;
            }
            else
            {
                if (scan(ang,1)) ;
                else if (scan(ang-=3,2)) ; else ang+=6;
            }
        }
        return(cannon((ang<<1)-oang,(scan(ang,10)<<1)-range));
    }
    else search();
}

fire3(dir,v)
{
    drive(dir,v);
    if (range=scan(oang=ang,10))
    {
        if (scan(ang-8,5))
        {
            if (scan(ang-=5,2)) ;
            else ang-=4;
        }
        else
        {
            if (scan(ang+8,5))
            {
                if (scan(ang+=5,2)) ;
                else ang+=4;
            }
            else
            {
                if (scan(ang,1)) ;
                else if (scan(ang-=3,2)) ; else ang+=6;
            }
        }
        return(cannon((ang<<1)-oang,(scan(ang,10)<<1)-range));
    }
    else
    {
        if(range=scan(ang+=20,10)) cannon(ang,range);
        else if(range=scan(ang-=40,10)) cannon(ang,range);
        else ang+=80;
    }
}

wall(a)
int b;
{
    if (a&1) b=loc_y();     else b=loc_x();
    if (a&2) return b>120;  else return b<880;
}

int look(a)
{
       if (scan(a,10))    ;
  else if (scan(a+=20,10));
  else return 0;
  ang=a;
  return 1;
}

main()
int abra,deg;
{
    corner(posx=loc_x(posy=(loc_y(tl=td=32)>499))>499);
    radar(deg2=(deg1=(90*(abra=(posy<<1)|(posx^posy))))+100);
    while (enemies<1) /* fase 1 */
    {
        dir=deg1+(30<<flag);
        if (look(deg1+(70*flag)))
        {
            fire(dir);
            while(scan(ang,10)>820) fire2();
            corner();
        }
        else if (scan(dir,10))
        {
            fire(ang=dir);
            while(scan(ang,10)>680) fire(dir);
            corner();
        }
        else
        {
            while(++t<5) fire(dir);
            corner(tl=timer);
        }
        if ((d=damage()-d)>dmax)
        {
            dmax=d; flag^=1;
        }
        if ((++timer>tl)&&(range>400))
        {
            if ((timer>115)&&(damage()<60)) enemies=1;
            else radar(tl=timer+(td>>=1)+1);
        }
    }
    while(enemies<=1) /* fase 2 */
    {
        deg=deg1;
        while(t<4) {
            dir=deg;
            if (wall(abra)) {
                if (look(deg)) {
                    fire3(dir+=55, 100);
                    while ( speed()<100 ) {
                        fire2(drive(dir, 100));
                    }
                    fire3(dir-=110, 100);
                    while(wall(abra+3)) {
                        fire3(dir, 100);
                    }
                } else {
                    fire2(drive(dir, 100));
                }
            } else {
                fire3(deg+=90, 0); ++abra; ++t;
            }
        }
        radar(t=0);
    }
    while(1)
    {
        if (((posx=loc_x())%880)<120) dir=180*(posx>500);
        else if (((posy=loc_y())%880)<120) dir=90+180*(posy>500);
        else if (range>600) dir=ang+25;
        else if (range<150) dir=ang+165;
        else dir=ang+180*(b^=1);

        fire3(dir,100);
        fire3(dir,100);
        fire3(dir,100);
    }
}