(AI-TANK)做匀加速直线运动

/**
*	Name:匀加速
*	Written by pt
*	Compiler:Microsoft Visual C++
*/

#include <airobot/c/SimpleRobot.h>

double moveVelocity;
double time;
double headingTo;
/**
 * 每个单位时间都会触发
 */
void onTick(struct TickAction* action)
{
	double angle = bearing(headingTo, getHeading());
	if (fabs(angle) < 0.0001)
	{
		turn(0);
		move(moveVelocity);
		if (time >= 40)
		{
			moveVelocity += 2;
			time = 0;
		}
		else
		{
			time++;
		}
	}
	else
	{
		move(0);
		turn(angle);
	}

	if (moveVelocity > 8)
	{
		moveVelocity = -8;
	}
}

/** 
 * 当开始一轮新的比赛时触发
 */
void onRoundBegin(struct RoundBeginAction* action)
{
	time = 0;
	moveVelocity = 0;
}

/**
 * 当撞到其它机器人时触发
 */
void onHitRobot(struct HitRobotAction* action)
{
	headingTo += PI;
}
/**
 * 当撞到墙时触发
 */
void onHitWall(struct HitWallAction* action)
{
	headingTo += PI;
}

/**
 * 机器人程序入口
 */
int main(int argC, char* argV[])
{
	tickHook = onTick;
	roundBeginHook = onRoundBegin;
	hitRobotHook = onHitRobot;
	hitWallHook = onHitWall;
	
	return startup(argC, argV);
}