Created
January 30, 2015 04:38
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test robot
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class Michael < RTanque::Bot::Brain | |
extend Forwardable | |
attr_accessor :next_radar_heading, :samples, :current_target, :current_search_area | |
def_delegator :sensors, :heading , :current_heading | |
def_delegator :sensors, :radar , :radar | |
NAME = 'Michael' | |
include RTanque::Bot::BrainHelper | |
def spin_sample | |
increment_heading | |
sample | |
end | |
def increment_heading | |
@next_radar_heading += (Math::PI / 20.0) | |
command.radar_heading = next_radar_heading | |
end | |
def tick! | |
@samples ||= {} | |
@next_radar_heading ||= sensors.radar_heading | |
if !current_search_area | |
spin_sample | |
elsif !current_target | |
get_target | |
else | |
hunt_target | |
end | |
end | |
def hunt_target | |
move(MAX_BOT_SPEED, current_target) | |
command.turret_heading = current_target | |
command.fire(MIN_FIRE_POWER) | |
end | |
def sample | |
current_heading = sensors.radar_heading.to_degrees | |
if @samples.has_key? current_heading | |
deg, c = best_search_area | |
if c > 0 | |
self.current_search_area = heading_from_degrees(deg) | |
command.radar_heading = current_search_area | |
else | |
move(20, current_heading) | |
end | |
@samples = {} | |
end | |
move(MAX_BOT_SPEED, RTanque::Heading::NORTH) | |
@samples[current_heading] = sensors.radar.count | |
end | |
def get_target | |
closest = find_closest | |
if closest | |
self.current_target = closest.heading | |
else | |
sample | |
end | |
end | |
def best_search_area | |
samples.max_by { |k, v| v } | |
end | |
def find_closest | |
radar.min_by { |reflection| reflection.distance } | |
end | |
def move_toward_sample(degrees, count) | |
if count == 0 | |
move(MAX_BOT_SPEED, current_heading) | |
else | |
hunt_heading(heading_from_degrees(degrees)) | |
end | |
end | |
def move(speed, direction) | |
command.speed = speed | |
command.heading = direction | |
end | |
def hunt_heading(heading) | |
move(MAX_BOT_SPEED, heading) | |
end | |
def heading_from_degrees(degrees) | |
RTanque::Heading.new_from_degrees(degrees) | |
end | |
end |
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