public override BehaviourTreeStatus Tick()
        {
            AdvancedRobot     tmpBot = this.bb.Robot;
            ScannedRobotEvent e      = this.bb.CurrentEnemy.E;

            if (tmpBot.Time % 50 == 0)
            {
                //this.bb.MovementDirection *= -1;
            }
            if (this.bb.DirectHit)
            {
                tmpBot.SetBack(distance);
                this.bb.DirectHit = false;
            }

            if (e == null)
            {
                this.bb.Robot.SetTurnRadarRight(360);
                return(BehaviourTreeStatus.Success);
            }

            var gunTurnAmt = Utils.NormalRelativeAngleDegrees(e.Bearing + (this.bb.Robot.Heading - this.bb.Robot.RadarHeading));

            // If our target is too far away, turn and move toward it.
            if (e.Distance > 150)
            {
                gunTurnAmt = Utils.NormalRelativeAngleDegrees(e.Bearing + (this.bb.Robot.Heading - this.bb.Robot.RadarHeading));
                //tmpBot.SetTurnGunRight(gunTurnAmt); // Try changing these to setTurnGunRight,
                tmpBot.SetTurnLeft(normaliseBearing(e.Bearing + 90 - (15 * this.bb.MovementDirection))); // and see how much Tracker improves...
                // (you'll have to make Tracker an AdvancedRobot)
                tmpBot.SetAhead((e.Distance - 140) * this.bb.MovementDirection);
                return(BehaviourTreeStatus.Success);
            }

            // Our target is close.
            gunTurnAmt = Utils.NormalRelativeAngleDegrees(e.Bearing + (this.bb.Robot.Heading - this.bb.Robot.RadarHeading));
            //tmpBot.SetTurnGunRight(gunTurnAmt);

            // Our target is too close! Back up.
            if (e.Distance < 100)
            {
                tmpBot.SetTurnLeft(normaliseBearing(e.Bearing + 90 - (15 * this.bb.MovementDirection))); // and see how much Tracker improves...
                this.bb.MovementDirection = 1;
                if (e.Bearing > -90 && e.Bearing <= 90)
                {
                    this.bb.Robot.SetBack(distance * this.bb.MovementDirection);
                }
                else
                {
                    this.bb.Robot.SetAhead(distance * this.bb.MovementDirection);
                }
            }
            //tmpBot.Ahead(distance * r);


            return(BehaviourTreeStatus.Success);
        }
        public override BehaviourTreeStatus Tick()
        {
            if (this.bb.CurrentEnemy == null || this.bb.Robot == null)
            {
                return(BehaviourTreeStatus.Failure);
            }
            ScannedRobotEvent e = this.bb.CurrentEnemy.E;
            AdvancedRobot     r = this.bb.Robot;

            if (r.Time % RandomNumber(70, 110) == 0)
            {
                this.bb.MovementDirection *= -1;
            }



            // Calculate exact location of the robot
            double absoluteBearing  = r.Heading + e.Bearing;
            double bearingFromGun   = Utils.NormalRelativeAngleDegrees(absoluteBearing - r.GunHeading);
            double bearingFromRadar = Utils.NormalRelativeAngleDegrees(absoluteBearing - r.RadarHeading);

            //Spiral around our enemy. 90 degrees would be circling it (parallel at all times)

            double     goalDirection = absoluteBearing - Math.PI / 2 * this.bb.MovementDirection;
            RectangleF fieldRect     = new RectangleF(18, 18, (float)r.BattleFieldWidth - 36,
                                                      (float)r.BattleFieldHeight - 36);

            while (!fieldRect.Contains((float)r.X + (float)Math.Sin(goalDirection) * 120, (float)r.Y +
                                       (float)Math.Cos(goalDirection) * 120))
            {
                goalDirection += this.bb.MovementDirection * .1;    //turn a little toward enemy and try again
            }
            double turn =
                Utils.NormalRelativeAngle(goalDirection - r.HeadingRadians);

            if (Math.Abs(turn) > Math.PI / 2)
            {
                turn = Utils.NormalRelativeAngle(turn + Math.PI);
                r.SetBack(100);
                //this.bb.MovementDirection = -1;
            }
            else
            {
                //this.bb.MovementDirection = 1;
                r.SetAhead(e.Distance - 140);
            }
            //r.SetTurnRightRadians(turn);
            // 80 and 100 make that we move a bit closer every turn.

            //r.SetAhead((e.Distance - 140) * this.bb.MovementDirection);

            if (this.bb.MovementDirection > 0)
            {
                r.SetTurnRight(Utils.NormalRelativeAngleDegrees(e.Bearing + 80));
            }
            else
            {
                r.SetTurnRight(Utils.NormalRelativeAngleDegrees(e.Bearing + 100));
            }



            // If it's close enough, fire!
            if (Math.Abs(bearingFromGun) <= 4)
            {
                //r.SetTurnGunRight(bearingFromGun);
                //r.SetTurnRadarRight(bearingFromRadar); // keep the radar focussed on the enemy
                // We check gun heat here, because calling fire()
                // uses a turn, which could cause us to lose track
                // of the other robot.

                // The close the enmy robot, the bigger the bullet.
                // The more precisely aimed, the bigger the bullet.
                //Don't fire us into disability, always save .1
                if (r.GunHeat == 0 && r.Energy > .2)
                {
                    //r.Fire(Math.Min(4.5 - Math.Abs(bearingFromGun) / 2 - e.Distance / 250, r.Energy - .1));
                }
            } // otherwise just set the gun to turn.
              //
            else
            {
                r.SetTurnGunRight(bearingFromGun);
                r.SetTurnRadarRight(bearingFromRadar);
            }
            // Generates another scan event if we see a robot.
            // We only need to call this if the radar
            // is not turning.  Otherwise, scan is called automatically.
            if (bearingFromGun == 0)
            {
                r.Scan();
            }

            return(BehaviourTreeStatus.Success);
        }