View source for GoTo

{{stub}}

Some robots use the coordinate system to move. These robots are called GoTo robots and usually use a type of GoTo code. Such as a [[Wave_Surfing/GoTo_Surfing|GoTo Surfer]]. By using a GoTo method, a robot can go directly to a set of desired coordinates. 

== Standard GoTo ==
This is your standard GoTo method. It is fairly accurate on a single call.
<syntaxhighlight>
/**
 * This method is very verbose to explain how things work.
 * Do not shorten or optimize this sample.
 */
private void goTo(double x, double y) {
	/* Transform our coordinates into a vector */
	x -= getX();
	y -= getY();
	
	/* Calculate the angle to the target position */
	double angleToTarget = Math.atan2(x, y);
	
	/* Calculate the turn required get there */
	double targetAngle = Utils.normalRelativeAngle(angleToTarget - getHeadingRadians());
	
	/* 
	 * The Java Hypot method is a quick way of getting the length
	 * of a vector. Which in this case is also the distance between
	 * our robot and the target location.
	 */
	double distance = Math.hypot(x, y);
	
	/* This is a simple method of performing set front as back */
	double turnAngle = Math.atan(Math.tan(targetAngle));
	setTurnRightRadians(turnAngle);
	if(targetAngle == turnAngle) {
		setAhead(distance);
	} else {
		setBack(distance);
	}
}
</syntaxhighlight>

== Smallest Codesize GoTo ==
This GoTo method has been optimized for codesize. It will not start moving full speed until generally pointing in the correct direction, and depending on how far away the go-to point is. This method should be called every round.
<syntaxhighlight>
private void goTo(int x, int y) {
    double a;
    setTurnRightRadians(Math.tan(
        a = Math.atan2(x -= (int) getX(), y -= (int) getY()) 
              - getHeadingRadians()));
    setAhead(Math.hypot(x, y) * Math.cos(a));
}
</syntaxhighlight>

[[Category:Movement]]