Re: simple wall avoidance

> Hi, I'm relatively new to java and robocode as well, but slowly I am
> getting the hang of it. At the moment I'm building a robot to
> participate in our school competition, and it is evolving quite nicely.
> It shoots the enemy using head on targeting and moves around it in a
> circular way. The problem that I have now is that it collides with the
> walls all the time and I'm trying to find some kind of solution to
> solve it.
> I came to an idea to calculate my x,y position and compare it to a
> double wall_avoid_distance. At any point when my tank is closer to the
> wall than wall_avoid_distance it should change it's direction.
> Well, I put in code and it chages the direction with one major problem
> - it collides with the wall and only after that it  seems to
> understand that it's time to go the other way. Maybe someone here can
> tell me, what am I doing wrong here.
> This is a part of my code:
>
> public void onScannedRobot(ScannedRobotEvent event) {
> // move around enemy tank in a circular way
> setTurnRight(event.getBearing() + 90);
> setAhead(100 * avoidWalls());
> double vastase_peilung = event.getBearing();
> double tuki_suund = getGunHeading();
> double minu_suund = getHeading();
> // this is for shooting and calculating enemy position
> double vastase_suund = minu_suund + vastase_peilung;
> double keeramisnurk = vastase_suund - tuki_suund;
> keeramisnurk = normalRelativeAngle(keeramisnurk);
>
> turnGunRight(keeramisnurk);
>
> setFire(3);
> execute();
> }
>
> public void onHitWall(HitWallEvent event) {
>       out.println("Ouch, I hit a wall bearing " + event.getBearing()
> + " degrees.");
>   }
>
> // when we get closer to a wall than "double wall_avoid_distance"
> change direction and go back
> private double avoidWalls() {
>
> double wall_avoid_distance = 60;
>         double fieldHeight = getBattleFieldHeight();
>         double fieldWidth = getBattleFieldWidth();
>         double centerX = (fieldWidth / 2);
>         double centerY = (fieldHeight / 2);
>         double currentHeading = getHeading();
>         double x = getX();
>         double y = getY();
>         if (x < wall_avoid_distance || x > fieldWidth -
> wall_avoid_distance) {
>         moveDirection *= -1;
>         }
>         if (y < wall_avoid_distance || y > fieldHeight -
> wall_avoid_distance) {
>         moveDirection *= -1;
>         }
>         return moveDirection;
> }
>
>
> ------------------------------------
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