From dcb9e9e73a96074d6777b5c658b390bdc476f3f8 Mon Sep 17 00:00:00 2001
From: kepler155c <kepler155c@gmail.com>
Date: Mon, 5 Feb 2018 22:42:08 -0500
Subject: [PATCH] robot wars

---
 apps/robotWars.lua | 81 ++++++++++++++++++++++++++++++++++------------
 1 file changed, 60 insertions(+), 21 deletions(-)

diff --git a/apps/robotWars.lua b/apps/robotWars.lua
index 1c78a49..5282e67 100644
--- a/apps/robotWars.lua
+++ b/apps/robotWars.lua
@@ -1,8 +1,3 @@
-_G.requireInjector(_ENV)
-
-local Event = require('event')
-local Util  = require('util')
-
 local os         = _G.os
 local peripheral = _G.peripheral
 
@@ -11,25 +6,69 @@ if not ni then
 	error("Cannot find neuralInterface")
 end
 
-local TARGET = 'joebodo'
+local RADIUS = 6
+local ROTATION = math.pi / 16
+local args = { ... }
 
-local function look(entity)
-	local x, y, z = entity.x, entity.y, entity.z
+local TARGET = args[1] or error('Syntax: robotWars <targetName>')
+
+local function yap(entity)
+	local x, y, z = entity.x, entity.y + 1, entity.z
 	local pitch = -math.atan2(y, math.sqrt(x * x + z * z))
-	local yaw = math.atan2(-x, z)
+	local yaw = math.atan2(-(x - .5), z - .5)
 
-	ni.look(math.deg(yaw), math.deg(pitch))
+  return math.deg(yaw), math.deg(pitch)
 end
 
-Event.addRoutine(function()
-	while true do
-		local target = Util.find(ni.sense(), 'name', TARGET)
-		if target then
-			look(target)
-			ni.shoot()
-		end
-		os.sleep(0)
-	end
-end)
+local function getUid()
+  for _,v in pairs(ni.sense()) do
+    if math.floor(v.x) == 0 and
+       math.floor(v.z) == 0 then
+      return v.id
+    end
+  end
+  error('Could not find myself')
+end
 
-Event.pullEvents()
+local uid = getUid()
+
+local function findTarget(name)
+  for _, v in pairs(ni.sense()) do
+    if v.name == name and v.id ~= uid then
+      return v
+    end
+  end
+end
+
+local function shootAt(name)
+		local target = findTarget(name)
+  if not target then
+    return
+  end
+  local yaw, pitch = yap(target)
+  debug('look: ' .. yaw)
+  ni.look(yaw, pitch)
+  debug('shoot')
+  pcall(ni.shoot, 1)
+end
+
+while true do
+	local target = findTarget(TARGET)
+  if not target then
+    print('Won??')
+    break
+  end
+  local angle = math.atan2(-target.x, -target.z) + ROTATION
+  debug('walk: ' .. angle)
+
+  ni.walk(
+    target.x + RADIUS * math.sin(angle),
+    0,
+    target.z + RADIUS * math.cos(angle))
+  os.sleep(.2)
+  repeat
+    os.sleep(0)
+  until not ni.isWalking()
+
+  shootAt(TARGET)
+end