Robo que pega o Walls

RLGDT_Walls.java

import java.awt.Color;

import robocode.AdvancedRobot;
import robocode.BulletHitEvent;
import robocode.HitRobotEvent;
import robocode.ScannedRobotEvent;

public class RLGDT_Walls extends AdvancedRobot {
	final int NE = 0, SE = 1, SO = 2, NO = 3;
	double eixoDeDescida;
	final double eixoDeBatalha = 30;
	boolean emBatalha = false;

	@Override
	public void run() {
		setBodyColor(Color.DARK_GRAY);
		setGunColor(Color.RED);
		setRadarColor(Color.DARK_GRAY);
		setBulletColor(Color.WHITE);
		setScanColor(Color.BLACK);
		eixoDeDescida = getBattleFieldWidth() - 100;

		posicionar();
		boolean indoParaTras = true;
		while (true) {
			if (getY() != eixoDeBatalha)
				posicionar();
			if (getDistanceRemaining() == 0 && indoParaTras && !emBatalha) {
				setBack(eixoDeDescida - (getBattleFieldWidth() - getX()));
				indoParaTras = false;
			}
			if (getDistanceRemaining() == 0 && !indoParaTras && !emBatalha) {
				setAhead(eixoDeDescida - getX());
				indoParaTras = true;
			}
			scan();
		}
	}

	int calculaMelhorAcao(double anguloInimigo) {
		if (anguloInimigo >= 0 && anguloInimigo < 90)
			return SO;
		else if (anguloInimigo >= 90 && anguloInimigo < 180)
			return NO;
		else if (anguloInimigo >= 180 && anguloInimigo < 270)
			return NE;
		else
			return SE;
	}

	@Override
	public void onHitRobot(HitRobotEvent event) {
		double anguloInimigo = getHeading() + event.getBearing();
		if (anguloInimigo > 360)
			anguloInimigo = 0 + (anguloInimigo - 360);
		else if (anguloInimigo < 0)
			anguloInimigo = 360 + anguloInimigo;

		switch (calculaMelhorAcao(anguloInimigo)) {
		case NO:
			northwestEvade();
			break;
		case NE:
			northestEvade();
			break;
		case SO:
			southwestEvade();
			break;
		case SE:
			southestEvade();
			break;
		}

		posicionar();
	}

	@Override
	public void onScannedRobot(ScannedRobotEvent ev) {
		if (getY() == eixoDeBatalha)
			setFire(3);
	}

	@Override
	public void onBulletHit(BulletHitEvent event) {
		emBatalha = true;
		setAhead(0);
	}

	void posicionar() {
		turnRight(90 - getHeading());
		ahead(eixoDeDescida - getX());
		turnRight(90);
		ahead(getY() - eixoDeBatalha);
		turnLeft(90);
	}

	void northestEvade() {
		if (getHeading() < 180)
			turnLeft(getHeading());
		else
			turnRight(360 - getHeading());
		setAhead(100);
		setTurnRight(90);
	}

	void northwestEvade() {
		if (getHeading() < 180)
			turnLeft(getHeading());
		else
			turnRight(360 - getHeading());
		setAhead(100);
		setTurnLeft(90);
	}

	void southestEvade() {
		if (getHeading() < 180)
			turnRight(180 - getHeading());
		else
			turnLeft(getHeading() - 180);
		setAhead(100);
		setTurnLeft(90);
	}

	void southwestEvade() {
		if (getHeading() < 180)
			turnRight(180 - getHeading());
		else
			turnLeft(getHeading() - 180);
		setAhead(100);
		setTurnRight(90);
	}
}