/**
* Processes the server tips
* @param tip The server tip in string shape
*/
void BFClientBasicState::reactOnServerTip (const string& tip) throw (StrategyException,bad_exception) {
if (tip=="STARTROTATION")
sendRTBMessageRotate(6,_go->ROBOT_CANNON_MAX_ROTATE);
else if (tip=="STOPROTATION")
sendRTBMessageRotate(6,0.0);
else
_bfcsp->getLogger()->logMessage(100,"Unknown server tip in brotfrucht: "+tip);
}
void ColumbusClientBaseState::driveTowards (const Position& pos) throw (bad_exception)
{
static double para=M_PI*_go->ROBOT_MAX_ACCELERATION;
static double M2PI=M_PI+M_PI;
static RobotInfo *i=&(_csp->getRobotInfo());
double dx=pos.x-i->pos.x;
double dy=pos.y-i->pos.y;
double force=dx*dx+dy*dy;
force=(M_1_PI-M_1_PI/(1+force))*.8+.2;
double dir=dx==0.&&dy==0.?0.:atan2(dy,dx)-i->dirRobot;
dir-=M2PI*int(dir/M2PI);
while(dir<-M_PI)
dir+=M2PI;
while(dir>=M_PI)
dir-=M2PI;
sendRTBMessageDebugLine(0,0,dir,.6+force);
double ad=fabs(dir);
if(ad>M_PI_2)
sendRTBMessageBrake(force*(ad-M_PI));
else sendRTBMessageAccelerate(force*(para-_go->ROBOT_MAX_ACCELERATION*ad));
sendRTBMessageRotate(1,force*dir*_go->ROBOT_MAX_ROTATE);
}
