package exe;

import robocode.*;
import java.util.*;
import java.awt.Color;


/**
 * @author Fumi Iseki
 *
 *  演習用　Level-03 ロボット 速射砲台
 *
 */

public class Level_03 extends Robot
{
    private boolean searchFirst = true;
    private boolean findEnemy;
    private double enemyAngle;
    

    public void run() {
        setColors(Color.yellow, Color.yellow, Color.red);
        setAdjustRadarForGunTurn(true);
        setAdjustGunForRobotTurn(true);
        
        while(true) {
            turnRadarRight(360);
            do {
                findEnemy = false;
                double la = getRelAngle(enemyAngle+20, getRadarHeading());
                turnRadarRight(la);
                double ra = getRelAngle(enemyAngle-20, getRadarHeading());
                turnRadarRight(ra);
            } while(findEnemy);
        }
    } 
 


    public void onScannedRobot(ScannedRobotEvent e) {
        findEnemy = true;
        turnRadarRight(0);
        enemyAngle = e.getBearing() + getHeading();
        double kd  = getRelAngle(enemyAngle, getGunHeading());
        turnGunRight(kd);
        if (getGunHeat()==0) {
            fire(3);
        }
        scan();
    }



    /**
     * 絶対角度 hdから gdへの（右回りの）相対角度を返す．返す角度は -180〜180
     */
    public double getRelAngle(double gd, double hd) {
        double kd = gd - hd;
        if (kd<-180)     return kd + 360;
        else if (kd>180) return kd - 360;
        return kd;
    }

}