zigzag PID bot

zigzag.js

const { vector, comm } = require("bytearena-sdk");
const Vector2 = vector.Vector2;
const agent = comm.connect();
let count = 1
const countLimit = 55
let countDirection = 1
let first = true
let angle = 0
agent.on("perception", perception => {

  const actions = []
  let p = 1
  let x = 0
  let y = 1
  
  let steering

  if (count === countLimit) {
    if (first === true) {
      if (angle != 0 ){
        angle = 0
        // console.log("zero")
      }
      else {
        // console.log("pi")
        angle = Math.PI
      }
      first=false
    }
    steering = navigate(perception, angle)
    // console.log(steering)
    if (steering.x == 0) {
      count = 1
      first = true
    }
  }
  else {
    count += countDirection
    steering = new Vector2(0, 1)
  }
  // console.log(count)
  actions.push({ method: "steer", arguments: steering.toArray() });
  agent.do(actions);
});

const navigate = (perception, angle) => {

  let steering = null
  let x, y
  let p = 1
  let error=angle-perception.azimuth
  if (Math.abs(error) > .01) {
    x =p * (angle - perception.azimuth)
    y = 1

  }
  else {
    x = 0
  }

  steering = new Vector2(x, y)
  return steering

}