set_state( OPEN_BALL );               }            }         }      }}      /*--- Send commands to actuators ---*/      // set the heading      abstract_robot.setSteerHeading(curr_time, result.t);      // set speed at maximum      abstract_robot.setSpeed(curr_time, 1.0);      // kick it if we can      if (abstract_robot.canKick(curr_time))         if( kick_ball )            abstract_robot.kick(curr_time);      // tell the parent we're OK      return(CSSTAT_OK);   }   static final double GOAL_X = 1.0;   boolean i_am_in_my_goalbox()   // true if on far side of field   {      if( i_am_on_east_team() )         return me.x > GOAL_X;      else         return me.x < -GOAL_X;   }   boolean i_am_in_top_half_of_field()   // lies, tells if in a little higher   {      return me.y > 0.1;   }   double toward_behind_ball()   // returns theta direction to go if we want to get behind the ball   {      // for now, we'll just be stupid and bump it backwards      Vec2 result;      double FUDGE = 0.02;      if( i_am_on_east_team() )         result = new Vec2( ball.x + (ROBOT_RADIUS+FUDGE), ball.y );       else         result = new Vec2( ball.x - (ROBOT_RADIUS+FUDGE), ball.y );       // make egocentric      result.sub( me );      if( robot_close_to_ball( me ) && !i_have_the_ball() )      {         // i am very near it, but am not behind it         // try and run around it         if( i_am_in_top_half_of_field() != i_am_on_east_team() )         {if( DEBUG_AROUND ){System.out.print( my_name() + " is running around in plus-theta direction" );System.out.println( " and thinks on top half: " + i_am_in_top_half_of_field() );}            return result.t + Math.PI/3;         }         else         {if( DEBUG_AROUND ){System.out.print( my_name() + " is running around in minus-theta direction" );System.out.println( " and thinks on top half: " + i_am_in_top_half_of_field() );}            return result.t - Math.PI/3;         }      }      else         return result.t;   }   Vec2 bottom_goalpost()   // returns location of their bottom goalpost   {      return new Vec2( theirgoal.x, theirgoal.y - GOAL_WIDTH/2 );   }   Vec2 top_goalpost()   // returns location of their top goalpost   {      return new Vec2( theirgoal.x, theirgoal.y + GOAL_WIDTH/2 );   }   boolean i_have_a_clear_shot()   // returns true if I have a clear shot on goal   {      if( !i_have_the_ball() )         return false;      double dir_ball, dir_top_goal, dir_bottom_goal;      if( i_am_on_east_team() )      {         dir_ball = normalize_pi( toward( me, ball ).t );         dir_top_goal = normalize_pi( toward( me, top_goalpost() ).t );         dir_bottom_goal = normalize_pi( toward( me, bottom_goalpost() ).t );      }      else      {         dir_ball = normalize_zero( toward( me, ball ).t );         dir_top_goal = normalize_zero( toward( me, top_goalpost() ).t );         dir_bottom_goal = normalize_zero( toward( me, bottom_goalpost() ).t );      }      if( between( dir_ball, dir_top_goal, dir_bottom_goal ) )         return true;      return false;   }   static final double OPENNESS = ROBOT_RADIUS;  // arbitrary value   boolean i_am_open()   {      return open( me, true );   }   boolean open( Vec2 robot, boolean my_team )   // tells if a given robot is "open".  my_team true if on my team   {      Vec2 bad[];      if( my_team )          bad = ego_opponents;      else         bad = ego_teammates;            Vec2 temp;      for( int i=0; i<bad.length; i++ )      {         temp = new Vec2( bad[i].x, bad[i].y );         // correct for fact that "bad" is egocentric         temp.add( me );         temp.sub( robot );//if( names[(int)my_id()].equals("yellow") )//System.out.println( "temp r is " + temp.r );         if( temp.r < OPENNESS )         {//if( names[(int)my_id()].equals("yellow") )//System.out.println( "" );            return false;         }      }//if( names[(int)my_id()].equals("yellow") )//System.out.println( "" );      return true;   }   boolean clear( Vec2 v )   // determines if egocentric vector from v is clear of any robots   {      int i;      for( i=0; i<ego_teammates.length; i++ )         if( robot_intersects( ego_teammates[i], v ) )            return false;              for( i=0; i<ego_opponents.length; i++ )         if( robot_intersects( ego_opponents[i], v ) )            return false;      return true;   }   boolean robot_intersects( Vec2 robot, Vec2 v )   // returns true if ego-robot intersects ego-v   {      double dt = normalize_zero( v.t - robot.t );      double dist_robot_to_v = robot.r * Math.sin( dt );      if( dist_robot_to_v > ROBOT_RADIUS )         return false;      return true;   }   boolean i_have_the_ball()   // returns true if I'm "behind" the ball and very near it   {      if( !robot_close_to_ball( me ) )         return false;      if( !i_am_behind_ball() )         return false;      return true;   }   boolean i_am_behind_ball()   // returns true if ball is "towards goal" rel to me   {      if( i_am_on_east_team() )      {         if( ball.x >= me.x ) return false;      }      else      {         if( ball.x <= me.x ) return false;      }      Vec2 top = top_goalpost();      Vec2 bottom = bottom_goalpost();      top.sub( me );     // make egocentric      bottom.sub( me );      double rel_top = normalize_zero( top.t - ego_ball.t );      double rel_bot = normalize_zero( bottom.t - ego_ball.t );      return between( 0, rel_top, rel_bot );   }          double defend_goal()   // returns direction we should go to be defending goal   {      Vec2 result;      Vec2 goal = ourgoal;      if( ball.y > top_goalpost().y )         goal.sety( top_goalpost().y );      else if( ball.y < bottom_goalpost().y )         goal.sety( bottom_goalpost().y );      else         goal.sety( ball.y );      result = toward( goal, ball );      result.setr( ROBOT_RADIUS );      result.add( goal );      result.sub( me );      return result.t;   }   static final double CLOSENESS = 0.05;   boolean robot_close_to_ball( Vec2 robot )   {      Vec2 temp = new Vec2( robot.x, robot.y );      temp.sub( ball );//if( names[(int)my_id()].equals("yellow") )//System.out.println( "temp.r is " + temp.r + " RR is " + ROBOT_RADIUS +//   " BR is " + BALL_RADIUS + " C is " + CLOSENESS );      if( temp.r > ROBOT_RADIUS + BALL_RADIUS + CLOSENESS )         return false;      return true;   }   static double normalize_pi( double t )   // converts a radian measure to between 0 and 2 pi   {      while( t > 2*Math.PI ) { t -= 2*Math.PI; }      while( t < 0 ) { t += 2*Math.PI; }      return t;   }   static double normalize_zero( double t )   // converts a radian measure to between -pi and pi   {      while( t > Math.PI ) { t -= 2*Math.PI; }      while( t < -Math.PI ) { t += 2*Math.PI; }      return t;   }   boolean i_am_on_east_team()   {      return !i_am_on_west_team();   }   boolean i_am_on_west_team()   {      return ourgoal.x < 0;   }   static boolean between( double a, double b, double c )   // return true if a between b and c   {      return (a<=Math.max(b,c)) && (a>=Math.min(b,c));   }}class Debugger{   public static final int        HAS_THE_BALL      = 0,       HAS_CLEAR_SHOT    = 1,       IS_OPEN           = 2,       CLOSE_TO_THE_BALL = 3,       BEHIND_THE_BALL   = 4,       CLOSEST_TO_BALL   = 5,       TOP_HALF_OF_FIELD = 6,       IN_GOALBOX = 7,       dummy             = -1;   public static final int MAX = 8;   final static String yes[] = {       "gets the ball!",       "has a clear shot!",       "has gotten open!",       "has gotten close to the ball.",       "is behind the ball.",       "is closest to the ball.",       "is in top half of field.",       "is in his own goalbox.",       "" };   final static String no[] = {       "no longer has the ball.",       "no longer has a clear shot.",       "is no longer open!",       "is no longer close to the ball.",       "is no longer behind the ball.",       "is no longer closest to the ball.",       "is in bottom half of field.",       "is not in his own goalbox.",       "" };   public boolean f()   {      switch( which )      {         case HAS_THE_BALL:            return robot.i_have_the_ball();                  case HAS_CLEAR_SHOT:            return robot.i_have_a_clear_shot();                  case IS_OPEN:            return robot.i_am_open();                  case CLOSE_TO_THE_BALL:            return robot.robot_close_to_ball( robot.me );                  case BEHIND_THE_BALL:            return robot.i_am_behind_ball();                  case CLOSEST_TO_BALL:            return robot.i_am_closest_to_the_ball();                  case TOP_HALF_OF_FIELD:            return robot.i_am_in_top_half_of_field();                  case IN_GOALBOX:            return robot.i_am_in_my_goalbox();                  default:            return false;      }   }   int which;   boolean highlight=false;   BrianTeam robot;   public Debugger( BrianTeam robot, int which )   {      this( robot, which, false );   }   public Debugger( BrianTeam robot, int which, boolean hl )   {       this.highlight = hl;      this.robot = robot;       this.which = which;             int id = (int)robot.my_id();      if( f() )      {         if( !robot.debug_reminders[which] )         {            if( highlight ) System.out.print( "--> " );            System.out.println( "Robot " + BrianTeam.names[id] + " " +                        yes[which] );            robot.debug_reminders[which] = true;         }      }      else      {         if( robot.debug_reminders[which] )         {                          if( highlight ) System.out.print( "--> " );            System.out.println( "Robot " + BrianTeam.names[id] + " " +                        no[which] );            robot.debug_reminders[which] = false;         }      }   }}