Historical Velocity Recall
A method of targeting that uses the most common enemy velocity as input to a linear targeting or circular targeting algorithm. The effectiveness of this targeting strategy can be greatly increased by implementing Segmentation.
Example using linear targeting
int[] _velocityCounts = new int[9];
public void onScannedRobot(ScannedRobotEvent e) {
int goingBackwardsMultiplier = (e.getVelocity() < 0 ? -1 : 1);
int enemyAbsVelocity = (int)Math.round(Math.abs(e.getVelocity()));
_velocityCounts[enemyAbsVelocity]++;
int mostCommonVelocity = 0;
int mostCommonVelocityCount = _velocityCounts[0];
for (int x = 1; x < 9; x++) {
if (_velocityCounts[x] > mostCommonVelocityCount) {
mostCommonVelocityCount = _velocityCounts[x];
mostCommonVelocity = x;
}
}
fireWithLinearTargeting(e.getHeadingRadians(),
mostCommonVelocity * goingBackwardsMultiplier);
}
