public void getRobotScannedEvent(ScannedRobotEvent evnt)
{
enemyBearing = evnt.Bearing;
enemyName = evnt.Name;
if (evnt.Name == newName1 || evnt.Name == newName2 || evnt.Name == newName3 || evnt.Name == newName4)
{
wrongTeam = true;
return;
}
double gunAdjustForTarget = 0;
robot.SetStop();
double radarAdjustment = (evnt.Bearing - robot.RadarHeading) + robot.Heading;
if (radarAdjustment > 180)
{
radarAdjustment -= 360;
}
if (radarAdjustment < -180)
{
radarAdjustment += 360;
}
if (robotHit == true)
{
double enemyX = evnt.Distance * Math.Sin(evnt.BearingRadians + robot.HeadingRadians) + robot.X;
double enemyY = evnt.Distance * Math.Cos(evnt.BearingRadians + robot.HeadingRadians) + robot.Y;
double timeToShoot = evnt.Distance / 5;
double distanceEnemyTravels = timeToShoot * evnt.Velocity;
double destinationX = distanceEnemyTravels * Math.Sin(evnt.HeadingRadians) + enemyX;
double destinationY = distanceEnemyTravels * Math.Cos(evnt.HeadingRadians) + enemyY;
double a = Math.Sqrt(Math.Pow(enemyX - destinationX, 2) + Math.Pow(enemyY - destinationY, 2));
double b = Math.Sqrt(Math.Pow(robot.X - destinationX, 2) + Math.Pow(robot.Y - destinationY, 2));
double c = Math.Sqrt(Math.Pow(robot.X - enemyX, 2) + Math.Pow(robot.Y - enemyY, 2));
gunAdjustForTarget = (180 / Math.PI) * Math.Acos((Math.Pow(b, 2) + Math.Pow(c, 2) - Math.Pow(a, 2)) / (2 * b * c));
}
double gunAdjustment = (evnt.Bearing - robot.GunHeading) + robot.Heading + gunAdjustForTarget;
if (gunAdjustment > 180)
{
gunAdjustment -= 360;
}
if (gunAdjustment < -180)
{
gunAdjustment += 360;
}
robot.SetTurnRadarRight(radarAdjustment);
robot.SetTurnGunRight(gunAdjustment);
robotScanned = true;
}
