fix(rammer): rewrite heading logic — correct forward/backward steering toward enemy

common_libs/movements/rammer.nim

@@ -13,19 +13,23 @@ type RammerModule* = object
 proc initRammer*(): RammerModule = RammerModule()
 
 proc computeMove*(m: var RammerModule, ws: WorldState): MoveCommand =
-  let enemyBearing = arctan2(ws.enemyY - ws.selfY, ws.enemyX - ws.selfX) * (180.0 / PI)
+  let dx = ws.enemyX - ws.selfX
+  let dy = ws.enemyY - ws.selfY
+  # Tank Royale: 0° = East, cos for X, sin for Y
+  let targetBearing = arctan2(dy, dx) * 180.0 / PI
 
-  # Delta from current heading to enemy bearing
-  var delta = enemyBearing - ws.selfHeading
-  while delta >  180.0: delta -= 360.0
+  # Angle we need to turn (relative to current heading)
+  var delta = targetBearing - ws.selfHeading
+  # Normalize to -180..180
+  while delta > 180.0: delta -= 360.0
   while delta < -180.0: delta += 360.0
 
-  # If enemy is behind (|delta| > 90°), reverse to avoid U-turn
-  let (speed, turnDelta) =
-    if abs(delta) <= 90.0:
-      (MaxSpeed, delta)
-    else:
-      let backDelta = if delta > 0.0: delta - 180.0 else: delta + 180.0
-      (-MaxSpeed, backDelta)
-
-  (speed: speed, turnRate: turnDelta.clamp(-10.0, 10.0))
+  # Drive forward or backward — whichever requires less turning
+  if abs(delta) <= 90.0:
+    # Forward: turn toward enemy, full speed ahead
+    (speed: MaxSpeed, turnRate: delta.clamp(-10.0, 10.0))
+  else:
+    # Backward: reverse toward enemy
+    # Flip delta by 180° to get the reverse heading
+    var revDelta = delta + (if delta > 0.0: -180.0 else: 180.0)
+    (speed: -MaxSpeed, turnRate: revDelta.clamp(-10.0, 10.0))