GoTo - Revision history

D414: Fix syntax highlighting

2025-08-19T23:14:11Z

Fix syntax highlighting

Chase-san: /* Advanced GoTo */

2018-09-01T15:39:10Z

Advanced GoTo

Chase-san: /* Advanced GoTo */

2018-09-01T15:38:41Z

Advanced GoTo

Chase-san at 15:37, 1 September 2018

2018-09-01T15:37:49Z

Chase-san: /* Standard GoTo */

2013-02-07T23:05:25Z

Standard GoTo

Chase-san: I got tired of having to scrounge the old wiki for this.

2013-02-07T22:58:37Z

I got tired of having to scrounge the old wiki for this.

New page

{{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]]

@@ Line 50: / Line 50: @@
      double goAngle = Utils.normalRelativeAngle(Math.atan2(x, y) - getHeadingRadians());
-     /* Apply a tangent to the turn this is a cheap way of achieving back to front turn angle as tangents period is PI.
+     /*
       * The output is very close to doing it correctly under most inputs. Applying the arctan will reverse the function
       * back into a normal value, correcting the value. The arctan is not needed if code size is required, the error from
@@ Line 57: / Line 58: @@
      setTurnRightRadians(Math.atan(Math.tan(goAngle)));
-     /* The cosine call reduces the amount moved more the more perpendicular it is to the desired angle of travel. The
+     /*
       * hypot is a quick way of calculating the distance to move as it calculates the length of the given coordinates
       * from 0.

@@ Line 50: / Line 50: @@
      double goAngle = Utils.normalRelativeAngle(Math.atan2(x, y) - getHeadingRadians());
-     /* Apply a tangent to the turn this is a cheap way of achieving back to front turn angle as tangents period is PI. The output is very close to doing it correctly under most inputs. Applying the arctan will reverse the function back into a normal value, correcting the value. The arctan is not needed if code size is required, the error from tangent evening out over multiple turns. */
+     /* Apply a tangent to the turn this is a cheap way of achieving back to front turn angle as tangents period is PI.
      setTurnRightRadians(Math.atan(Math.tan(goAngle)));
-     /* The cosine call reduces the amount moved more the more perpendicular it is to the desired angle of travel. The hypot is a quick way of calculating the distance to move as it calculates the length of the given coordinates from 0. */
+     /* The cosine call reduces the amount moved more the more perpendicular it is to the desired angle of travel. The
      setAhead(Math.cos(goAngle) * Math.hypot(x, y));
+}

@@ Line 5: / Line 5: @@
 == Standard GoTo ==
 This is your standard GoTo method. It is fairly accurate on a single call.
-<syntaxhighlight>
+<syntaxhighlight lang="java">
 /**
   * This method is very verbose to explain how things work.
@@ Line 41: / Line 41: @@
 == Advanced GoTo ==
 This GoTo function uses cosine to prevent moving when not facing in the desired direction.
-<syntaxhighlight>
+<syntaxhighlight lang="java">
 private void go(double x, double y) {
      /* Calculate the difference bettwen the current position and the target position. */
@@ Line 69: / Line 69: @@
 == 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>
+<syntaxhighlight lang="java">
 private void goTo(int x, int y) {
      double a;

@@ Line 36: / Line 36: @@
 		setBack(distance);
+	}
+}
 </syntaxhighlight>

@@ Line 8: / Line 8: @@
 /**
   * This method is very verbose to explain how things work.
-  * Do not shorten or optimize this sample.
+  * Do not obfuscate/optimize this sample.
   */
 private void goTo(double x, double y) {