# Maximum Escape Angle/Precise Positional

< Maximum Escape Angle(Redirected from PPMEA)

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Precise positional MEA is a method of calculating the MEA of a target robot relative to the aiming robot while ignoring heading and velocity change rules.

Gilgalad's algorithm is pretty simple. The PPMEA of robot A is always going to be the angle most nearly prependicular to the bearing from robot B to robot A which robot A can move at without hitting any walls before a bullet reaches its position. So Gilgalad runs a 'binary search' of the range of angles from prependicular to heading directly towards Gilgalad.

### Bot using this technique

## Non-iterative

*Main article: Non-iterative PPMEA*

PPMEA can also be derived from the intersections of the Escape Circle and the walls, in which a binary search is avoided.