Cymba v0.7

package fire219.cymba;
import robocode.*;
import robocode.util.*;
import java.awt.Color;
//import java.awt.Color;

/**
 * Cymba - a robot by fire219
 * version 1-4-15
 * Proving simple is better since 2014
 */
public class Cymba extends AdvancedRobot
{
	int moveDirection = 1; //-1 = left, 1 = right
	int turnmodifier = 0;
	double targetdist1 = 0;
	double targetingmod = 0;
	double nprand = 0;
	double lastenergy = 0;
    int fliptimer = 0;
	int antiwalltimer = 0;

	public void run() {
	   setColors(Color.GRAY, Color.WHITE, Color.GRAY);
	   out.println("Cymba is initializing.");
  	   setAdjustRadarForRobotTurn(true);
	  // setAdjustRadarForGunTurn(true);

 	   do {
 	       // ...
  	      // Turn the radar if we have no more turn, starts it if it stops and at the start of round

  	      if ( getRadarTurnRemaining() == 0.0 )
  	          setTurnRadarRightRadians( Double.POSITIVE_INFINITY );
   	 	  execute();
		  setAhead(150 * moveDirection);
		  if (Math.random() > .85) {
			out.println("Changing direction");
			moveDirection = moveDirection * -1;
			}
		  if (antiwalltimer < 30) {
		 	 if (getX() < 100 || getY() < 100 || getX() > getBattleFieldWidth()-100 || getY() > getBattleFieldHeight()-100) {
				setTurnRight(30);
				antiwalltimer = 0;
				}
			}
		  antiwalltimer = antiwalltimer + 1;
		  scan();
   	 } while ( true );

  	  // ...
	}

	public void onScannedRobot(ScannedRobotEvent e) {
 	   // ...

 	   // Absolute angle towards target
 	   double angleToEnemy = getHeadingRadians() + e.getBearingRadians();

  	  // Subtract current radar heading to get the turn required to face the enemy, be sure it is normalized
  	   double radarTurn = Utils.normalRelativeAngle( angleToEnemy - getRadarHeadingRadians() );

	    // Distance we want to scan from middle of enemy to either side
 	   // The 36.0 is how many units from the center of the enemy robot it scans.
 	   double extraTurn = Math.min( Math.atan( 72.0 / e.getDistance() ), Rules.RADAR_TURN_RATE_RADIANS );

  	  // Adjust the radar turn so it goes that much further in the direction it is going to turn
 	   // Basically if we were going to turn it left, turn it even more left, if right, turn more right.
 	   // This allows us to overshoot our enemy so that we get a good sweep that will not slip.
  	  radarTurn += (radarTurn < 0 ? -extraTurn : extraTurn);

  	  //Turn the radar
  	  setTurnRadarRightRadians(radarTurn);
 	  if (Math.random() > 0.5) {
        nprand = -1*Math.random();
		}
	  else {
		nprand = Math.random();
		}
   	  double bulletPower = 3;
      double headOnBearing = getHeadingRadians() + e.getBearingRadians();
      double linearBearing = headOnBearing + Math.asin(e.getVelocity() / Rules.getBulletSpeed(bulletPower) * Math.sin(e.getHeadingRadians() - headOnBearing));
      setTurnGunRightRadians(Utils.normalRelativeAngle(linearBearing - getGunHeadingRadians()) + .05*nprand);
	  if (getGunTurnRemaining() < 2) {
		setFire(3);
	  }

		//Modifies trajectory based on proximity to target.
		if (e.getDistance() < 100) {
			out.println("too close!" + e.getDistance());
			if (moveDirection == 1) {
				turnmodifier = -20;
			}
			if (moveDirection == -1) {
				turnmodifier = 20;
			}
		}
		if (e.getDistance() > 100) {
			turnmodifier = 0;
		}

		setTurnRight(e.getBearing() + 100 + turnmodifier);


		if (getGunTurnRemaining() < 5) {

		}
		if (lastenergy != e.getEnergy()){
			if (fliptimer > 50){
				moveDirection = moveDirection * -1;
				fliptimer = 0;
			}
		}
 		lastenergy = e.getEnergy();
		fliptimer = fliptimer + 1;
}


	public void onHitByBullet(HitByBulletEvent e) {

		execute();
	}


	public void onHitWall(HitWallEvent e) {
		setTurnRight(e.getBearing() + 90);
		moveDirection = moveDirection * -1;
		setAhead(150 * moveDirection);
		execute();

	}
}