Difference between revisions of "Radar"

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(Splitting into One on One radars and Melee radars, sentences may need cleaning up, and things may need to be renamed)
(Its great your making videos, but try to only link on the most relevant pages. Like these are one-on-one only, and are on that page. So they don't need to be here.)
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The radar is one of the most vital components of your robot. Without it [[targeting]] is effectively impossible, and [[movement]] is purely random. Just as with movement and targeting, there are many simple and complex algorithms for radar control. In most robots the radar takes up the smallest portion of code.
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'''Radar''' is one of the most vital components of your robot. Without it, [[targeting]] is effectively impossible and [[movement]] is purely random. Just as with movement and targeting, there are many simple and complex algorithms for radar control. In most robots the radar takes up the smallest portion of code.
  
Many [[:Category:Bot Authors|bot authors]] place their radar adjustment code at the end of the <code>onScannedRobot()</code> method; this by itself is not a mistake and generally has little effect. However in robots that do a lot of processing, it is best to place it at the beginning of the <code>onScannedRobot()</code> method or in the main loop (if there is one), as to allow the radar to reset if the robot skips its turn in a later method.
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[[Image:Radar.jpg|thumb|right|300px|Radar in [[Robocode]]]]
  
== One on One Radars ==
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== Technical Information ==
'''NOTE:''' for most of these radar locks, you will need to add one of the following to your <code>run()</code> method:
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A radar in Robocode can turn a maximum of 45° or &pi;/4<sup>rad</sup> in a single tick. The radar scans robots up to 1200 units away. The angle that the radar rotates between two ticks creates what is called a radar arc, and every robot detected within the arc is sent to the <code>onScannedRobot()</code> method in order of distance from the scanning bot. The closest bot is detected first, while the furthest bot is detected last. By default, the <code>onScannedRobot()</code> method has the lowest [[event priority]] of all the event handlers in Robocode, so it is the last one to be triggered each tick.
  
<pre>
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== Initial Scan Direction ==
setAdjustRadarForRobotTurn(true);
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The optimal direction to scan at the beginning of the round is generally considered to be the one with the shortest rotational distance to the angle to the center of the field. However there is likely many robots that have a more complex initial scan setup. Such variations include rotating the gun and robot to get a larger scan arc to find the enemy faster.
</pre>
 
  
<pre>
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== 1-vs-1 Radars ==
setAdjustGunForRobotTurn(true);
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: ''Main article: [[One on One Radar]]
setAdjustRadarForGunTurn(true);
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One on one radars are the smallest of the bunch and many can get a scan in every turn, producing a perfect lock. The most common types of radar in [[One on One|one on one]] are: 
</pre>
 
  
=== Spinning radar ===
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* Spinning radar
A simple spin of the radar, this is very ineffective in one on one, but  still used in [[NanoBot]]'s
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* The Infinity Lock
 +
* Perfect Radar Locks
 +
:* Turn Multiplier Lock
 +
:* Width Lock
  
<pre>
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== Melee radars ==
public void run() {
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: ''Main article: [[Melee Radar]]
    // ...
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Melee radars are more complex and take up considerably more room inside a robot. Since the field of opponents does not usually fall within a 45° area, compromises must be made between frequent data of one bot (e.g., the firing target) and consistently updated data of all bots. Common melee radars include:
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* Spinning Radar
 +
* Oldest Scanned Radar
 +
* Gun Heat Lock
 +
== Notes ==
 +
For most of these radar locks, you will need to add one of the following to your <code>run()</code> method:
  
    do {
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<syntaxhighlight>
        setTurnRadarRightRadians(Double.POSITIVE_INFINITY);
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setAdjustRadarForRobotTurn(true);
    } while (true);
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setAdjustGunForRobotTurn(true);
}
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setAdjustRadarForGunTurn(true);
</pre>
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</syntaxhighlight>
 
 
=== The infinity lock ===
 
The infinity lock is the simplest radar lock, and is used frequently in [[NanoBot]]s. It has the disadvantage of "slipping" and losing its lock frequently.
 
 
 
<pre>
 
public void run() {
 
    // ...
 
    setTurnRadarRightRadians(Double.POSITIVE_INFINITY);
 
}
 
 
 
public void onScannedRobot(ScannedRobotEvent e) {
 
    // ...
 
    setTurnRadarLeftRadians(getRadarTurnRemainingRadians());
 
}
 
</pre>
 
 
 
=== Perfect radar locks ===
 
There are several "perfect" radar locks that will not slip once they have a lock.
 
 
 
==== Narrow lock ====
 
This type of lock is thin and follows the robot around the battlefield. Here is an example of this kind of radar:
 
 
 
<pre>
 
import robocode.util.Utils;
 
 
 
public void run() {
 
    // ...
 
 
 
    turnRadarRight(Double.POSITIVE_INFINITY);
 
    do {
 
        scan();
 
    } while (true);
 
}
 
 
 
public void onScannedRobot(ScannedRobotEvent e) {
 
    double absoluteBearing = getHeadingRadians() + e.getBearingRadians();
 
 
 
    double radarTurn = absoluteBearing - getRadarHeadingRadians();
 
    setTurnRadarRightRadians(Utils.normalRelativeAngle(radarTurn));
 
 
 
    // ...
 
}
 
</pre>
 
 
 
==== Wide lock ====
 
The wide-type radar locks are used to avoid the rare slipping of the thin lock. They scan a wider portion of the battlefield but still will not slip. This type of lock is generally the largest in codesize.
 
 
 
<pre>
 
import robocode.util.Utils;
 
 
 
private int ticksSinceLastScan = 0;
 
 
 
public void run() {
 
    // ...
 
 
 
    do {
 
        if (ticksSinceLastScan++ > 2) {
 
            setTurnRadarRight(Double.POSITIVE_INFINITY);
 
        }
 
 
 
        execute();
 
    } while (true);
 
}
 
 
 
public void onScannedRobot(ScannedRobotEvent e) {
 
    double absoluteBearing = getHeadingRadians() + e.getBearingRadians();
 
    double radarTurn = Utils.normalRelativeAngle(absoluteBearing - getRadarHeadingRadians());
 
 
 
    // Width of the bot, plus twice the arc it can move in a tick
 
    double arcToScan = atan(36.0 / e.getDistance());
 
 
 
    // Limit this so that we don't overshoot
 
    if (arcToScan > PI / 4.0) arcToScan = PI / 4.0;
 
 
 
    // We want to sent the radar even further in the direction it's moving
 
    radarTurn += (radarTurn < 0) ? -arcToScan : arcToScan;
 
    setTurnRadarRightRadians(radar);
 
 
 
    ticksSinceLastScan = 0;
 
 
 
    // ...
 
}
 
</pre>
 
 
 
== Melee Radars ==
 
Melee radars are more complex and take up considerable more room inside a robot.
 
 
 
=== Spinning radar ===
 
Just as with one on one, there is the generic spinning radar. This is the most used melee radar as it is by far the easiest to implement.
 
 
 
<pre>
 
public void run() {
 
    // ...
 
 
 
    do {
 
        setTurnRadarRightRadians(Double.POSITIVE_INFINITY);
 
    } while (true);
 
}
 
</pre>
 
 
 
==== Corner Arc ====
 
A variation on the spinning radar, if the robot is in a corner it scans back and forth across the 90 degree arc away from the corner, as not to waste time scanning where there cannot be any robots.
 
  
=== Oldest Scanned ===
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[[Category:Code Snippets]]
This type of melee radar spins towards the robot it hasn't seen in the longest amount of time.
 

Revision as of 08:03, 15 October 2012

Radar is one of the most vital components of your robot. Without it, targeting is effectively impossible and movement is purely random. Just as with movement and targeting, there are many simple and complex algorithms for radar control. In most robots the radar takes up the smallest portion of code.

Radar in Robocode

Technical Information

A radar in Robocode can turn a maximum of 45° or π/4rad in a single tick. The radar scans robots up to 1200 units away. The angle that the radar rotates between two ticks creates what is called a radar arc, and every robot detected within the arc is sent to the onScannedRobot() method in order of distance from the scanning bot. The closest bot is detected first, while the furthest bot is detected last. By default, the onScannedRobot() method has the lowest event priority of all the event handlers in Robocode, so it is the last one to be triggered each tick.

Initial Scan Direction

The optimal direction to scan at the beginning of the round is generally considered to be the one with the shortest rotational distance to the angle to the center of the field. However there is likely many robots that have a more complex initial scan setup. Such variations include rotating the gun and robot to get a larger scan arc to find the enemy faster.

1-vs-1 Radars

Main article: One on One Radar

One on one radars are the smallest of the bunch and many can get a scan in every turn, producing a perfect lock. The most common types of radar in one on one are:

  • Spinning radar
  • The Infinity Lock
  • Perfect Radar Locks
  • Turn Multiplier Lock
  • Width Lock

Melee radars

Main article: Melee Radar

Melee radars are more complex and take up considerably more room inside a robot. Since the field of opponents does not usually fall within a 45° area, compromises must be made between frequent data of one bot (e.g., the firing target) and consistently updated data of all bots. Common melee radars include:

  • Spinning Radar
  • Oldest Scanned Radar
  • Gun Heat Lock

Notes

For most of these radar locks, you will need to add one of the following to your run() method:

setAdjustRadarForRobotTurn(true);
setAdjustGunForRobotTurn(true);
setAdjustRadarForGunTurn(true);