SirStone
caa096d6c9
The bot now drives its radar every tick. It still never moves and never
fires: body, turret and gun stay white ("not programmed"), while the
radar paints itself black at init to mark itself as working.
- modules/radar.nim replaces the earlier multi-module radar design with a
single module holding the whole of it: target memory, mode selection
and both commands
- two commands, picked from the only fact the bot is sure of (the API's
getEnemyCount()): one enemy plus a target in hand -> LOCK, servo onto
its bearing; anything else -> SWEEP at 45 deg/tick, the radar's physics
cap, a full revolution every 8 ticks
- the lock turns by the delta to the target's bearing plus 5 deg PAST it,
so the radar CROSSES the bearing every tick instead of settling on it.
That crossing is what produces a fresh ScannedBotEvent every tick: a
scan per tick, with no rescan to wait for. Turning by the bare error
parks the radar on the bearing and the scans stop
- commandRadar() is called before go() on every path, so there is no idle
branch to fall into and switching modes costs zero turns
- idea derived from ModularBot's radar (Apache-2.0) via common_libs/;
common_libs/ is not edited in place
- AGENTS.md gains mermaid behaviour diagrams plus pointers to the physics
and coordinate references
- version bumped to 1.1.0 in both DevControlBot.nimble and
DevControlBot.json so the two agree
Compiled against robocode_tankroyale_botapi 1.0.7.
93 lines
4.7 KiB
Nim
93 lines
4.7 KiB
Nim
## The radar — one module, the whole of it. No movement, no gun.
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##
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## Every tick `commandRadar()` issues EXACTLY ONE radar command, before `go()`,
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## on every path. There is no "idle" branch: the 360 sweep is not a mode we
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## fall back INTO, it is the command the other branch replaces. That is why
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## switching costs zero turns.
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##
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## TWO commands, chosen by the only fact the bot knows for sure:
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##
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## exactly one enemy alive + a target in hand -> LOCK (servo onto its bearing)
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## anything else -> SWEEP (45 deg/tick, the cap,
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## a full revolution every 8 ticks)
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##
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## The sweep does double duty and needs no separate "melee" mode: it is both the
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## search for a target we do not have yet and the right answer for 2+ enemies
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## (a full revolution re-scans every enemy 8x sooner than any narrowed sweep,
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## and locking one of several is worthless).
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##
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## Derived from ModularBot's radar (Davide Cappellini, Apache-2.0), i.e. from
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## common_libs/radar_lock/radar_lock.nim (`doRadar`) and common_libs/radars/
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## melee_scan.nim, which ModularBot picks between per tick in exactly this way
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## (`let targetMode = if getEnemyCount() == 1: 0 else: 1` — ModularBot.nim, the
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## "Auto-switch radar based on the SERVER's live enemy count" block). The one
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## idea taken from it is the OVERSHOOT, and it is the whole reason the lock
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## works: the rate is the delta to the target's bearing plus 5 deg PAST it, so
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## the radar crosses the bearing every tick instead of settling on it — which
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## is exactly what produces a fresh ScannedBotEvent every tick. Turning by the
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## bare error (or holding inside a deadzone) parks the radar on the bearing and
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## the scans stop; the target then has to be re-found by the sweep, which is the
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## delay this replaces. common_libs/ is never edited in place.
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##
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## ANGLES: 0° = east, positive = counter-clockwise, so positive = a LEFT turn
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## (proof in ../README.md; the API's own doc comment claiming "0 = North" for
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## `directionTo` contradicts its code and is wrong).
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import std/math
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import robocode_tankroyale_botapi
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const
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MaxRadarTurn* = 45.0 # deg/tick, the radar's hard cap (the sweep)
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OvershootDeg* = 5.0 # how far past the target's bearing the lock aims;
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# guarantees the bearing is swept every tick
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FreshScanTurns* = 1 # how many ticks a remembered target stays usable.
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# The 5 deg overshoot makes the lock CROSS the
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# target's bearing every tick, so a fresh
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# ScannedBotEvent arrives every tick and this
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# counter never gets past 1. Hence one tick without a
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# scan means the target has genuinely left the radar
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# cone: there is nothing left to wait for, sweeping
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# re-finds it faster than a stale lock could.
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# The target in hand: the position of the last bot we scanned. Absolute
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# position, not a remembered bearing, so the delta is recomputed against the
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# radar's CURRENT heading every tick and the lock keeps correcting a target
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# that (and a radar that) has moved since the scan.
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var
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targetX, targetY: float
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targetSeen: bool
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scanlessTicks: int
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proc onScan*(x, y: float) =
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## Remember a scanned bot as the target. Issues no command: `onScannedBot`
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## runs AFTER go() has already sent this tick's intent.
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targetX = x
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targetY = y
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targetSeen = true
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scanlessTicks = 0
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proc initRadar*() =
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## Called ONCE, before the first tick: the radar is now programmed and working,
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## so it claims its own colours — radar and scan arc go BLACK.
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## COLOUR CONVENTION: white = "not programmed yet", black = "programmed and
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## running". The bot starts all WHITE (DevControlBot.nim); the radar paints
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## ITSELF black the moment it takes control, and body/turret/gun stay white
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## forever (they are still unprogrammed — this bot never moves, never fires).
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## Set once here, never per tick: the colour never changes, so re-sending it
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## every tick would only cost intent bandwidth.
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setRadarColor(BLACK)
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setScanColor(BLACK)
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proc commandRadar*() =
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## Command the radar for THIS tick. Called from run() before go().
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if targetSeen: inc scanlessTicks
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if getEnemyCount() == 1 and targetSeen and scanlessTicks <= FreshScanTurns:
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var turn = normalizeRelativeAngle(
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directionTo(getX(), getY(), targetX, targetY) - getRadarDirection())
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if turn < 0.0: turn -= OvershootDeg
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else: turn += OvershootDeg
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setRadarTurnRate(turn.clamp(-MaxRadarTurn, MaxRadarTurn))
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return
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targetSeen = false # nothing usable to lock on: sweep
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setRadarTurnRate(MaxRadarTurn)
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