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I made this for a micro bot. It is wave surfing but it is not Goto or True wave surfing. It is something more like gravity surfing.Is there a name for this? Sorry for pasting the all code.

    public static double[][] m = new double[3][5];
    double enemyEnergy = 100;
    ArrayList<Wave> waves = new ArrayList<>();

    public void run() {
        setTurnRadarRightRadians(Double.POSITIVE_INFINITY);
    }

    public void onScannedRobot(robocode.ScannedRobotEvent e) {
        double bulletPower;
        double absoluteBearing = e.getBearingRadians() + getHeadingRadians();
        double lateralVelocity = getVelocity() * Math.sin(getHeadingRadians() - absoluteBearing + Math.PI);
        if ((bulletPower = (enemyEnergy - (enemyEnergy = e.getEnergy()))) <= 3 && bulletPower >= 0.09) {
            waves.add(new Wave(bulletPower, getHeadingRadians() + e.getBearingRadians() + Math.PI, e.getDistance(), (int)Math.round(lateralVelocity / 8)));
        }
        double max = 0;
        double dir = 0;
        for (int i = 0; i < waves.size(); i++) {
            Wave w = waves.get(i);
            w.move += getVelocity();
            w.time--;
            if (w.time <= 0) {
                waves.remove(w);
                i--;
            } else {
                dir -= w.dir / w.time;
                max += 1 / w.time;
            }
        }
        dir /= max;
        setAhead(Math.max(-1, Math.min(dir, 1)) * 36);
        setTurnRightRadians(normalRelativeAngle(wallSmoothing(getX(), getY(), getHeadingRadians() + e.getBearingRadians() + Math.PI / 2, (int)Math.signum(dir)) - getHeadingRadians())); //Staying perpendicular to the enemy to have a large escape angle
        setTurnRadarLeftRadians(getRadarTurnRemaining());
        System.out.println(Arrays.deepToString(m));
    }

    public void onHitByBullet(robocode.HitByBulletEvent e) {
        if (!waves.isEmpty()) {
            Wave w = waves.get(0);
            m[w.segment][w.segment2] += Math.signum(w.move);
        }
    }

    public void onHitWall(robocode.HitWallEvent e) {
        onHitByBullet(null);
    }

    public double wallSmoothing(double x, double y, double currentAngle, int dir) {
        if (dir != 0) {
            currentAngle += Math.PI / 20 * dir;//This is optional. I use it to get away from the enemy
            Rectangle2D battleField = new Rectangle(25, 25, 775, 575);
            while (!battleField.contains(x + Math.sin(currentAngle) * 160 * dir, y + Math.cos(currentAngle) * 160 * dir)) {
                currentAngle -= Math.PI / 45 * dir;
            }
        }
        return currentAngle;
    }

    public class Wave {

        double speed;
        double mea;
        double time;
        int segment;
        int segment2;
        double dir;
        double move = 0;

        public Wave(double power, double angle, double distance, int segment) {
            time = distance / (speed = (20 - 3 * power));
            mea = 8 / speed;
            this.segment = segment + 1;
            dir = (int)Math.signum(m[segment + 1][segment2 = (int)Math.round(time / 91 * 5)]);
            if(dir == 0) {
                dir = Math.random() < 0.5 ? -1: 1;
            }
        }
    }

I'm not sure I follow your logic with this. Could you explain how the pieces are meant to work?

Also, there might be a bug with w.move += getVelocity();, since that is the velocity of the robot not the wave.

To predict where to move: robot sums the predictions of the waves weighted by time since fired. After if it is positive it moves ahead, if it is negative it moves back.

To learn: Every wave gets the total velocity of the robot while it moves, not deleted. If the wave hits, it gets the sign of the total velocity and add it to it's slices.

When a wave is fired it gets the value in it's slices and sets it's prediction to it.

Sorry if the weighted sum is positive, it moves back.