Moving Around

robot.js

//FightCode can only understand your robot
//if its class is called Robot

var arena = {
	width: 0,
	height: 0,
};

var nb_directions = 4;

var first_launch = true;
var first_launch_clone = true;

var list_robots = new Array();

function my_robot(robot) {
	this.robot = robot;
	if (robot.parentId == null){ // parent
		this.direction = 0;
		this.sonar_side = 1;
		this.sonar_sens = 1;
		this.rotation_inc = 15;
	}
	else {// clone
		this.direction = 2;
		this.sonar_side = 0;
		this.sonar_sens = 0;
		this.rotation_inc = 15;
	}
};

my_robot.prototype = {
	robot: null,
	rotation_inc: 15,
	sonar_side: 0, // 0 : right - 1 left
	sonar_sens: 0, // 0 - positif - 1 - negatif
	direction: 0, // 0 - TOP
				   // 1 - RIGHT
				   // 2 - BOT
				   // 3 - LEFT
    last_canon_angle: 0,
	pending_soft_turn: false,
	soft_angle: 10,
	soft_turn_direction: 0, // 0 - TOP
				 // 1 - RIGHT
				 // 2 - BOT
				 // 3 - RIGHT
	
    isParent: function(){
		if (this.robot.parentId == null)
			return true;
		return false;
	},
	
	soft_turn: function(direction){
		this.robot.log("Soft Turn Asked to :" + direction);
		this.soft_turn_direction = direction;
		this.pending_soft_turn = true;
		this.continue_soft_turn();
		
	},
	
	continue_soft_turn: function(){
		this.robot.log("In continue soft turn: " + this.soft_turn_direction);
		switch (this.soft_turn_direction){
			case 0: // TOP
				// try to turn to top
				if (this.robot.angle>180){
					if (this.soft_angle + this.robot.angle >= 360){
						this.pending_soft_turn = false;
						if (this.robot.position.x < arena.width/2)
							this.sonar_side = 0;
						else
							this.sonar_side = 1;
						this.direction = 0;
						this.robot.turnRight(360 - this.robot.angle);
					}
					else
						this.robot.turnRight(this.soft_angle);
				}
				else {
					if (this.robot.angle - this.soft_angle <= 0){
						this.pending_soft_turn = false;
						if (this.robot.position.x < arena.width/2)
							this.sonar_side = 0;
						else
							this.sonar_side = 1;
						this.direction = 0;
						this.robot.turnLeft(this.robot.angle);
					}
					else
						this.robot.turnLeft(this.soft_angle);
				}
				break;
			case 1: // RIGHT
				if (this.robot.angle > 270 || this.robot.angle < 90){
					if (this.robot.angle + this.soft_angle >= 90){
						this.pending_soft_turn = false;
						if (this.robot.position.y < arena.height/2)
							this.sonar_side = 0;
						else
							this.sonar_side = 1;
						this.direction = 1;
						this.robot.turnRight(90 - this.robot.angle);
					}
					else
						this.robot.turnRight(this.soft_angle);
				}
				else {
					if (this.robot.angle - this.soft_angle <= 90){
						this.pending_soft_turn = false;
						if (this.robot.position.y < arena.height/2)
							this.sonar_side = 0;
						else
							this.sonar_side = 1;
						this.direction = 1;
						this.robot.turnLeft(this.robot.angle - 90);
					}
					else
						this.robot.turnLeft(this.soft_angle);
				}
				break; 
			case 2: // BOT
				if (this.robot.angle < 180){
					if (this.robot.angle + this.soft_angle >= 180){
						this.pending_soft_turn = false;
						if (this.robot.position.x > arena.width/2)
							this.sonar_side = 0;
						else
							this.sonar_side = 1;
						this.direction = 2;
						this.robot.turnRight(180 - this.robot.angle);
					}
					else
						this.robot.turnRight(this.soft_angle);
				}
				else {
					if (this.robot.angle - this.soft_angle <= 180){
						this.pending_soft_turn = false;
						if (this.robot.position.x > arena.width/2)
							this.sonar_side = 0;
						else
							this.sonar_side = 1;
						this.direction = 2;
						this.robot.turnLeft(this.robot.angle - 180);
					}
					else
						this.robot.turnLeft(this.soft_angle);
				}
				break;
			case 3: // LEFT
				if (this.robot.angle > 270 || this.robot.angle < 90){
					this.robot.log("FU:" + this.robot.angle);
					if (this.robot.angle + this.soft_angle >= 270){
						this.pending_soft_turn = false;						
						if (this.robot.position.y > arena.height/2)
							this.sonar_side = 0;
						else
							this.sonar_side = 1;
						this.direction = 3;
						this.robot.turnLeft(this.robot.angle - 270);
					}
					else
						this.robot.turnLeft(this.soft_angle);
				}
				else{
					if (this.robot.angle - this.soft_angle <= 270){
						this.pending_soft_turn = false;
						if (this.robot.position.y > arena.height/2)
							this.sonar_side = 0;
						else
							this.sonar_side = 1;
						this.direction = 3;
						this.robot.turnRight(270 - this.robot.angle);
					}
					else
						this.robot.turnRight(this.soft_angle);
				}
				break;
		}
	},
	
	doWeNeedToTurn: function(){
		switch (this.direction){
			case 0: // TOP
				if (this.robot.position.y < 50){ // we're too close from the wall, turn
					if (this.robot.position.x < arena.width/2){
						this.soft_turn(1); // TURN RIGHT
					}
					else
						this.soft_turn(3);
				}
				break;
			case 1: // RIGHT
				if (this.robot.position.x > arena.width - 50){
					if (this.robot.position.y < arena.height /2){
						this.soft_turn(2);
					}
					else
						this.soft_turn(0);
				}
				break;
			case 2: // BOT
				if (this.robot.position.y > arena.height - 50){
					if (this.robot.position.x < arena.width/2)
						this.soft_turn(1);
					else
						this.soft_turn(3);
				}
				break;
			case 3: // LEFT
				if (this.robot.position.x < 50){
					if (this.robot.position.y < arena.height/2)
						this.soft_turn(2);
					else
						this.soft_turn(0);
				}
				break;
	  } 
	},
	
	adjustDirection: function(){
		this.soft_turn(this.direction);
	},
	
	getNextPositionToWatch: function(){
		if (this.sonar_side == 1){
			if (this.sonar_sens == 0){
				if (this.robot.cannonRelativeAngle + this.rotation_inc >= 90 && this.robot.cannonRelativeAngle < 90){
					this.sonar_sens = 1;
					return (90 - this.robot.cannonRelativeAngle);
				}
				return this.rotation_inc;
			}
			else {
				if (this.robot.cannonRelativeAngle - this.rotation_inc <= 270 && this.robot.cannonRelativeAngle > 90){
					this.sonar_sens = 0;
					this.robot.log("fu: " + this.robot.cannonRelativeAngle);
					return (270 - this.robot.cannonRelativeAngle);
				}
				return -this.rotation_inc;
			}
		}
		else{
			if (this.sonar_sens == 0) {
				if (this.robot.cannonRelativeAngle + this.rotation_inc >= 270 && this.robot.cannonRelativeAngle < 270){
					this.sonar_sens = 1;
					return (270 - this.robot.cannonRelativeAngle);
				}
						return this.rotation_inc;
			}
			else {
				if (this.robot.cannonRelativeAngle - this.rotation_inc <= 90 && this.robot.cannonRelativeAngle > 90){
					this.sonar_sens = 0;
					return (90 - this.robot.cannonRelativeAngle);
				}
				return -this.rotation_inc;
			}
		} 
	},
	
	isClone: function(){
		return (!this.isParent());
	}
    
};

var isRobotRegistered = function (robot){
	var i;
	for (i = 0; i < list_robots.length; i++){
		if (list_robots[i].robot.id == robot.id)
			return true;
	}
	return false;
};

var updateRobot = function (robot){
	var i;
	for (i = 0; i < list_robots.length; i++){
		if (list_robots[i].robot.id == robot.id) {
			list_robots[i] = robot;
			return true;
			}
	}
	return false;
}


var registerRobot = function(robot){
	if (!isRobotRegistered(robot)){
		list_robots[list_robots.length] = new my_robot(robot);
	}
	else{
		var r = getRobot(robot);
		r.robot = robot;
		updateRobot(r);
	}
};


var getRobot = function(robot){
	for (i = 0; i < list_robots.length; i++){
		if (list_robots[i].robot.id == robot.id) {
			return list_robots[i];
			}
	}
	return null;
};

var Robot = function(robot) {
	arena.width = robot.arenaWidth;
	arena.height = robot.arenaHeight;
	};
	
function look_top(robot){
	if (robot.angle>180)
		robot.turnRight(360 - robot.angle);
	else
		robot.turnLeft(robot.angle);
	var r = getRobot(robot);
	r.direction = 0;
	updateRobot(r);
}

function look_bot(robot){
	if (robot.angle>180)
		robot.turnLeft(robot.angle-180);
	else
		robot.turnRight(180 + robot.angle);
		
	var r = getRobot(robot);
	r.direction = 2;
	updateRobot(r);
}

Robot.prototype.onWallCollision = function(ev) {
    var robot = ev.robot;
	var r = getRobot(robot);
	if ( (r.direction == 2 && ev.robot.position.x < arena.width/2) // bot left
		 || (r.direction == 1 && ev.robot.position.y > arena.height/2)
		 || (r.direction == 3 && ev.robot.position.y < arena.height/2)
		 || (r.direction == 0 && ev.robot.position.x > arena.width/2)){
			r.sonar_side = 1;
			robot.turn(-90);
			robot.rotateCannon(-90);
			r.direction -= 1;
			if (r.direction < 0)
				r.direction = nb_directions + r.direction;
			updateRobot(r);
			return;
	}

	robot.turn(90);		
	robot.rotateCannon(90);
	r.sonar_side = 0;
	r.direction = (r.direction+1)% nb_directions;
	updateRobot(r);
};

Robot.prototype.onRobotCollision = function(ev) {
    var robot = ev.robot;
	var r = getRobot(robot);
	robot.back(10);
	robot.turn(180);
	//r.sonar_side = (r.sonar_side + 1) %2;
	r.direction = (r.direction+2)% nb_directions;
	updateRobot(r);
};

Robot.prototype.onIdle = function(ev) {
    var robot = ev.robot;
	
	registerRobot(robot);
	var r = getRobot(robot);
   // robot.ahead(100);
  //  robot.rotateCannon(360);
  if (first_launch){
	//look_top(robot);
	r.soft_turn(0);
	first_launch = false;
	//robot.clone();
  }
  
  if (robot.parentId != null && first_launch_clone){
	first_launch_clone = false;
	//look_bot(robot);
	r.soft_turn(2);
  }
  
  // check deplacement to avoid wallcollision (it will slow us)
 	r.doWeNeedToTurn();
  if (r.pending_soft_turn)
	r.continue_soft_turn();
	else
		r.adjustDirection(); 
  
  
  
  
	canon_angle = r.getNextPositionToWatch();
//	robot.log("New angle at: " + canon_angle);
	robot.rotateCannon(canon_angle);
	robot.ahead(10);
// 	robot.log("Direction: " + (r.direction));
	//robot.log("Position: x: " + robot.position.x + "; y: " + robot.position.y + " ; angle: " + robot.angle + "; cannon_angle: " + robot.cannonRelativeAngle + "; cannon_abs_angle: " + robot.cannonAbsoluteAngle);
//	robot.log("Sonar: Side: " + (r.sonar_side == 0? "left":"right") + "; sonar_sens: " + r.sonar_sens);
//	robot.log("Arena: width: " + arena.width + "; height: " + arena.height); */
};

Robot.prototype.onScannedRobot = function(ev) {
    var robot = ev.robot;
   // robot.fire();
	robot.stop();
};