def get_readings():
""" Returns the main sensor readings """
cl_enemy = ai.closestShipId()
data = {}
data["X"] = ai.selfX()
data["Y"] = ai.selfY()
data["VelX"] = ai.selfVelX()
data["VelY"] = ai.selfVelY()
data["RadarX"] = ai.selfRadarX()
data["RadarY"] = ai.selfRadarY()
data["Orientation"] = ai.selfHeadingDeg()
data["ClosestRadarX"] = ai.closestRadarX()
data["ClosestRadarY"] = ai.closestRadarY()
data["ClosestItemX"] = ai.closestItemX()
data["ClosestItemY"] = ai.closestItemY()
data["EnemySpeed"] = ai.enemySpeedId(cl_enemy)
data["EnemyX"] = ai.screenEnemyXId(cl_enemy)
data["EnemyY"] = ai.screenEnemyYId(cl_enemy)
data["EnemyHeading"] = ai.enemyHeadingDegId(cl_enemy)
data["EnemyShield"] = ai.enemyShieldId(cl_enemy)
data["EnemyDistance"] = ai.enemyDistanceId(cl_enemy)
data["ShotAlert"] = ai.shotAlert(0)
data["ShotDist"] = ai.shotDist(0)
data["ShotVel"] = ai.shotVel(0)
data["ShotVelDir"] = ai.shotVelDir(0)
return data
def AI_loop():
#Release keys
ai.thrust(0)
ai.turnLeft(0)
ai.turnRight(0)
#Set variables
heading = int(ai.selfHeadingDeg())
tracking = int(ai.selfTrackingDeg())
frontWall = ai.wallFeeler(500,heading)
left45Wall = ai.wallFeeler(500,heading+45)
right45Wall = ai.wallFeeler(500,heading-45)
left90Wall = ai.wallFeeler(500,heading+90)
right90Wall = ai.wallFeeler(500,heading-90)
left135Wall = ai.wallFeeler(500,heading+135)
right135Wall = ai.wallFeeler(500,heading-135)
backWall = ai.wallFeeler(500,heading-180)
trackWall = ai.wallFeeler(500,tracking)
result_list = []
risk_list = []
for i in range(8):
Degree = tracking+(45*i)
Speed = ai.selfSpeed()
Distance = ai.wallFeeler(10000,tracking+(45*i))
result = Closing_Rate(Degree, tracking, Speed, Distance)
result_list.append(result)
### Fuzzy membership ###
closing_rate, distance = Closing_Rate(Degree, tracking, Speed, Distance)
low, medium, fast = Fuzzy_Speed(closing_rate)
close, far = Fuzzy_Distance(distance)
risk = Fuzzy_Risk(low, medium, fast, close, far)
risk_list.append(risk)
## Get the direction in deg that is most risky for the robot ##
max_risk = max(risk_list)
track_risk = (tracking + (risk_list.index(max_risk)*45) % 360)
min_risk = min(risk_list)
####### Shooting Ennemies ########
##Find the closest ennemy##
ClosestID = ai.closestShipId()
#print(ClosestID)
##Get the closest ennemy direction and speed##
ClosestSpeed = ai.enemySpeedId(ClosestID)
ClosestDir = ai.enemyTrackingDegId(ClosestID)
## Get the lockheadingdeg ##
enemy = ai.lockClose()
#print(enemy)
head = ai.lockHeadingDeg()
#print(head)
enemyDist = ai.selfLockDist()
#print(enemyDist, ClosestSpeed, ClosestDir, head)
int1, int2, int3, int4, int5 = Data(enemyDist, ClosestSpeed, ClosestDir, head, heading, tracking)
output = Out(int1, int2, int3, int4, int5)
#print(output)
if(output > 0.5):
addDeg = output * 20
else:
addDeg = (output -0.5) * 20 * -1
## Get the angles on both side between tracking and heading ##
dist = (heading - track_risk) % 360
dist2 = (360 - dist) % 360
## Production system rules based off fuzzy output ##
if(dist <= 130 and dist >= 0 and ai.selfSpeed() > 0 and max_risk >= 75):
ai.turnLeft(1)
#print("turning left")
elif(dist2 <= 130 and dist2 >= 0 and ai.selfSpeed() > 0 and max_risk >= 75):
ai.turnRight(1)
#print("turning right")
elif(ai.selfSpeed() <= 10):
ai.thrust(1)
#print("thrust")
elif(trackWall <= 150):
ai.thrust(1)
#print("thrust")
elif(enemyDist <= 400 and heading > (head) and enemyDist != 0):
ai.turnRight(1)
ai.fireShot()
elif(enemyDist <= 400 and heading < (head) and enemyDist != 0):
ai.turnLeft(1)
ai.fireShot()
elif(enemyDist > 400 and heading > (head + addDeg) and enemyDist != 0):
ai.turnRight(1)
ai.fireShot()
elif(enemyDist > 400 and heading < (head + addDeg) and enemyDist != 0):
ai.turnLeft(1)
ai.fireShot()
else:
#print("chilling")
ai.thrust(0)
ai.fireShot()
def AI_loop(self):
# Release keys
ai.thrust(0)
ai.turnLeft(0)
ai.turnRight(0)
if self.quitFlag == True:
with open('fitness.txt', 'a') as inFile:
outString = str(self.fitness) + "\n"
inFile.write(outString)
ai.quitAI()
if ai.selfAlive() == 0 or self.frames > 3000:
self.foundPreyFlag = False
self.parterFoundPreyFlag = False
self.checking = False
if self.foundPreyFlag == True and self.parterFoundPreyFlag == True:
self.fitness = self.fitness + 2
#-------------------- Set variables --------------------#
heading = int(ai.selfHeadingDeg())
tracking = int(ai.selfTrackingDeg())
frontWall = ai.wallFeeler(500, heading)
leftWall = ai.wallFeeler(500, heading + 45)
rightWall = ai.wallFeeler(500, heading - 45)
leftWallStraight = ai.wallFeeler(500, heading + 90)
rightWallStraight = ai.wallFeeler(500, heading - 90)
leftBack = ai.wallFeeler(500, heading + 135)
rightBack = ai.wallFeeler(500, heading - 135)
backWall = ai.wallFeeler(500, heading - 180)
trackWall = ai.wallFeeler(500, tracking)
R = (heading - 90) % 360
L = (heading + 90) % 360
aim = ai.aimdir(0)
bullet = ai.shotAlert(0)
speed = ai.selfSpeed()
x = ai.selfX()
y = ai.selfY()
enemyX = -1
enemyY = -1
enemyTeam = -1
if self.preyID != -1:
enemyX = ai.screenEnemyXId(self.preyID)
enemyY = ai.screenEnemyYId(self.preyID)
enemyTeam = ai.enemyTeamId(self.preyID)
else:
enemyX = ai.screenEnemyXId(ai.closestShipId())
enemyY = ai.screenEnemyYId(ai.closestShipId())
enemyTeam = ai.enemyTeamId(ai.closestShipId())
myTeam = ai.selfTeam()
coordinate = self.grid[self.counter][1]
message = ai.scanMsg(0)
# Continually check messages
if message != self.MessageBuffer[-1]:
self.checkMessage(message)
# Check if enemy is on screen
# If it is: broadcast location of enemy
if enemyX != -1 and enemyY != -1 and enemyTeam != 2:
coordinate = (enemyX, enemyY)
self.foundPreyFlag = True
self.foundPrey(coordinate)
self.fitness += 1
elif self.foundPreyFlag == True:
self.foundPreyFlag = False
ai.talk("--- " + "Lost prey!")
if self.parterFoundPreyFlag == True:
coordinate = self.preyLocation
# Calculate most efficient way to turn to get where we want to
targetX = coordinate[0]
targetY = coordinate[1]
toTurn = self.angleToPoint(x, y, targetX, targetY, heading)
distance = self.distance(x, targetX, y, targetY)
if self.checking == False and self.foundPreyFlag == False:
ai.talk("checking! " + str(coordinate))
self.checking = True
# If speed is too fast, turn around and thrust to negate velocity
if speed > self.gene0:
turning = ai.angleDiff(heading, tracking)
if abs(turning) > self.gene1 and abs(turning) <= self.gene2:
ai.turnLeft(0)
ai.turnRight(0)
if self.frames % self.gene3 == 0:
ai.thrust(1)
elif turning <= self.gene4 and turning > self.gene5:
ai.turnRight(1)
else:
ai.turnLeft(1)
if self.foundPreyFlag == True and distance <= 150:
self.caughtPrey(coordinate, distance)
else:
#-------------------- Go to coordinate / enemy --------------------#
if abs(toTurn) < self.gene6 and distance > self.gene7:
ai.turnLeft(0)
ai.turnRight(0)
if self.frames % self.gene8 == 0:
ai.thrust(1)
elif toTurn >= self.gene9:
ai.turnLeft(1)
elif toTurn <= -self.gene10:
ai.turnRight(1)
if self.foundPreyFlag == True and distance <= 150:
self.caughtPrey(coordinate, distance)
elif self.foundPreyFlag == True and distance > 150:
self.foundPrey(coordinate)
elif distance < 150:
self.markSpotChecked(coordinate, "me")
#-------------------- Old turn and thrust rules --------------------#
if speed <= self.gene14 and frontWall >= self.gene15:
ai.thrust(1)
elif trackWall < self.gene16:
ai.thrust(1)
elif backWall < self.gene17:
ai.thrust(1)
if (backWall < self.gene18) and (rightWallStraight < self.gene19):
ai.turnLeft(1)
elif backWall < self.gene20 and (leftWallStraight < self.gene21):
ai.turnRight(1)
elif leftWallStraight < rightWallStraight and trackWall < self.gene22:
ai.turnRight(1)
elif leftWallStraight > rightWallStraight and trackWall < self.gene23:
ai.turnLeft(1)
self.frames = self.frames + 1
if self.caughtPreyFlag == True and self.quitFlag == False:
ai.talk("quit!")
self.quitFlag = True
if ai.selfAlive() == 0 or self.frames > 1800:
self.quitFlag = True
def AI_loop():
#Inserted Code
if ai.selfAlive():
DataMinerBD.updateInputs()
DataMinerBD.updateOutputs()
DataMinerBD.savePair()
print(DataMinerBD.length())
if DataMinerBD.length() > 10000:
DataMinerBD.writeData()
print("Finished")
ai.quitAI()
global lastTurn
#Release keys
DataMinerBD.tthrust(0)
DataMinerBD.tturnLeft(0)
DataMinerBD.tturnRight(0)
ai.setTurnSpeed(45)
#Set variables"""
heading = int(ai.selfHeadingDeg())
tracking = int(ai.selfTrackingDeg())
trackWall = ai.wallFeeler(500, tracking)
trackLWall = ai.wallFeeler(500, tracking+3)
trackRWall = ai.wallFeeler(500, tracking - 3)
frontWall = ai.wallFeeler(500,heading)
flWall = ai.wallFeeler(500, heading + 10)
frWall = ai.wallFeeler(500, heading - 10)
leftWall = ai.wallFeeler(500,heading+90)
rightWall = ai.wallFeeler(500,heading-90)
trackWall = ai.wallFeeler(500,tracking)
backWall = ai.wallFeeler(500, heading - 180)
backLeftWall = ai.wallFeeler(500, heading - 185)
backRightWall = ai.wallFeeler(500, heading - 175)
speed = ai.selfSpeed()
closest = min(frontWall, leftWall, rightWall, backWall)
def closestWall(x): #Find the closest Wall
return {
frontWall : 1,
leftWall : 2,
rightWall : 3,
backWall : 4,
flWall : 5,
frWall : 6,
}[x]
wallNum = closestWall(closest)
#Code for finding the angle to the closest ship
target = ai.closestShipId()
targetX, targetY = ai.screenEnemyX(0), ai.screenEnemyY(0)
calcDir = 0
if targetX- ai.selfX() != 0:
calcDir = (math.degrees(math.atan2((targetY - ai.selfY()), (targetX- ai.selfX()))) + 360)%360
targetDir = calcDir
crashWall = min(trackWall, trackLWall, trackRWall) #The wall we are likely to crash into if we continue on our current course
#Rules for turning
if crashWall > 25*speed and closest > 30 and targetX != -1: #If we are far enough away from a predicted crash and no closer than 25 pixels to a wall, and there isn't a wall between us and the closest enemy
#print("Aiming", targetDir, " Current", heading)
diff = (calcDir - heading)
if ai.shotAlert(0) > -1 and ai.shotAlert(0) < 35:
DataMinerBD.tturnRight(1)
DataMinerBD.tthrust(1)
elif diff >= 0:
if diff >= 180:
a = 0
DataMinerBD.tturnRight(1) #If the target is to our right- turn right
elif diff != 0 :
a = 0
DataMinerBD.tturnLeft(1) #If the target is to our left - turn left
else :
if diff > -180:
a = 0
DataMinerBD.tturnRight(1) #If the target is to our right - turn right
else :
a = 0
DataMinerBD.tturnLeft(1) #If the target is to our left - turn left
else : #Rules for avoiding death
# if crashWall/ai.selfSpeed() > ai.closestShot() :
#We find a target heading using our current trajectory and the closest wall then turn in it's direction
targetHeading = heading
print(heading)
if wallNum == 1or wallNum == 6 or wallNum == 5: #Front Wall is Closest
if lastTurn == 1:
targetHeading += 270
targetHeading = (targetHeading)%360
else :
targetHeading +=90
targetHeading = targetHeading%360
print("front")
elif wallNum == 2 : # Left Wall is Closest
targetHeading += 270
targetHeading = (targetHeading)%360
lastTurn = 1
print("leftwall")
elif wallNum == 3 :
targetHeading = targetHeading + 90
targetHeading = (targetHeading)%360
lastTurn = 2
print("rightWall")
else :
if backLeftWall < backRightWall:
lastTurn = 2
targetHeading += 5
targetHeading = (targetHeading)%360
if backLeftWall > backRightWall:
lastTurn = 1
targetHeading -= 5
targetHeading = (targetHeading)%360
speedConcern = ai.selfSpeed() - 4
if speedConcern < 0:
speedConcern = 0
elif speedConcern > 5:
speedConcern = 5
#targetHeading = (targetHeading*(1-(speedConcern/5))) + (((tracking+170)%360)*(speedConcern/5))
if speedConcern > 2:
targetHeading = (tracking + 180)%360
diff = (targetHeading - heading)
print("targetHEading : ", targetHeading, " heading : ", heading)
if diff >= 0:
if diff >= 180:
DataMinerBD.tturnRight(1) #If the targetHEading is to our right- turn right
print("right")
elif diff != 0 :
DataMinerBD.tturnLeft(1) #If the targeHeadingt is to our left - turn left
print("left")
else :
if diff > -180:
print("right")
DataMinerBD.tturnRight(1) #If the targetHeading is to our right - turn right
#print("right")
else :
print("left")
DataMinerBD.tturnLeft(1) #If the targetHeading is to our left - turn left
#print("nice")
#Rules for thrusting
if speed < 5 and frontWall > 200: #If we are moving slowly and we won't ram into anything, accelerate
DataMinerBD.tthrust(1)
elif crashWall < 25*speed and (abs(tracking - heading) > 120): #If we are getting close to a wall, and we can thrust away from it, do so
DataMinerBD.tthrust(1)
elif backWall < 30: #If there is a wall very close behind us, get away from it
DataMinerBD.tthrust(1)
if abs(calcDir - heading) < 15 : #If we are close to the current proper trajectory for a shot then fire
DataMinerBD.tshoot()
def __init__(self):
idE = ai.closestShipId()
super().__init__(idE)
def __init__(self, gain=FIRE_GAIN):
super(FireClosestEnemy, self).__init__(ai.closestShipId(), gain)
def AI_loop():
#Release keys
ai.thrust(0)
ai.turnLeft(0)
ai.turnRight(0)
#Set variables
heading = int(ai.selfHeadingDeg())
tracking = int(ai.selfTrackingDeg())
frontWall = ai.wallFeeler(500, heading)
left45Wall = ai.wallFeeler(500, heading + 45)
right45Wall = ai.wallFeeler(500, heading - 45)
left90Wall = ai.wallFeeler(500, heading + 90)
right90Wall = ai.wallFeeler(500, heading - 90)
left135Wall = ai.wallFeeler(500, heading + 135)
right135Wall = ai.wallFeeler(500, heading - 135)
backWall = ai.wallFeeler(500, heading - 180)
trackWall = ai.wallFeeler(500, tracking)
####### Shooting Ennemies ########
##Find the closest ennemy##
ClosestID = ai.closestShipId()
#print(ClosestID)
##Get the closest ennemy direction and speed##
ClosestSpeed = ai.enemySpeedId(ClosestID)
#print(ClosestSpeed)
ClosestDir = ai.enemyTrackingDegId(ClosestID)
#print(ClosestDir)
## Get the lockheadingdeg ##
enemy = ai.lockNext()
print(enemy)
head = ai.lockHeadingDeg()
print(head)
enemyDist = ai.selfLockDist()
print(enemyDist)
### Turning Rules ###
if frontWall <= 200 and (left45Wall < right45Wall):
print("turning right")
ai.turnRight(1)
elif frontWall <= 200 and (left45Wall > right45Wall):
ai.turnLeft(1)
elif left90Wall <= 200:
print("turning right")
ai.turnRight(1)
elif right90Wall <= 200:
print("turning left")
ai.turnLeft(1)
### Thrust commands ####
elif ai.selfSpeed() <= 10 and (frontWall >= 200) and (
left45Wall >= 200) and (right45Wall >= 200) and (
right90Wall >= 200) and (left90Wall >= 200) and (
left135Wall >= 50) and (right135Wall >= 50) and (backWall
>= 50):
print("go forward")
ai.thrust(1)
elif trackWall < 75 and ai.selfSpeed() >= 10:
ai.thrust(1)
elif trackWall < 50 and ai.selfSpeed() <= 10:
ai.thrust(1)
elif backWall <= 75:
ai.thrust(1)
elif left135Wall <= 75:
ai.thrust(1)
elif right135Wall <= 75:
ai.thrust(1)
##### Shooting Ennemy Commands #####
elif enemyDist <= 500 and heading > (head):
ai.turnRight(1)
ai.fireShot()
elif enemyDist <= 500 and heading < (head):
ai.turnLeft(1)
ai.fireShot()
else:
print("chilling")
ai.thrust(0)
def AI_loop():
""" The main loop for this agent!
Prod.py is a rule-based expert system.
"""
# Release keys
ai.thrust(0)
ai.turnLeft(0)
ai.turnRight(0)
# Heuristics
sideFeelerOffset = 65 # Offsets from heading for wall feelers (degrees)
perpFeelerOffset = 90 # (degrees)
trackFeelerOffset = 45 # (degrees)
nearLimit = 150 # Threshold for a relatively "close" object (xp distance units)
nearLimitThreat = 300 # Threshold for a "very close" object (xp distance units)
shotDanger = 130 # Threshold for relatively "close" bullets (xp distance units)
speedLimit = 5 # (xp speed units)
powerHigh = 45 # (xp thrust power units)
powerLow = 20 # (xp thrust power units)
targetingAccuracy = 5 # Tolerance from heading within which firing is OK (degrees)
# Reset everything else
ai.setTurnSpeedDeg(20) # Artificial handicap!
ai.setPower(powerLow)
# Acquire information
heading = int(ai.selfHeadingDeg())
tracking = int(ai.selfTrackingDeg())
feelers = []
heading = int(ai.selfHeadingDeg())
tracking = int(ai.selfTrackingDeg())
frontWall = ai.wallFeeler(500, heading)
leftWall = ai.wallFeeler(500, heading + perpFeelerOffset)
rightWall = ai.wallFeeler(500, heading - perpFeelerOffset)
trackWall = ai.wallFeeler(500, tracking)
rearWall = ai.wallFeeler(500, heading - 180)
backLeftWall = ai.wallFeeler(500, heading + 135)
backRightWall = ai.wallFeeler(500, heading - 135)
frontLeftWall = ai.wallFeeler(500, heading + 45)
frontRightWall = ai.wallFeeler(500, heading - 45)
feelers.append(frontWall)
feelers.append(leftWall)
feelers.append(rightWall)
feelers.append(trackWall)
feelers.append(rearWall)
feelers.append(backLeftWall)
feelers.append(backRightWall)
feelers.append(frontLeftWall)
feelers.append(frontRightWall)
# Collect distances
if ai.enemyDistanceId(ai.closestShipId()) > 0:
closestPlayerDistance = ai.enemyDistanceId(ai.closestShipId())
else:
closestPlayerDistance = math.inf
if ai.shotDist(0) > 0:
closestBulletDistance = ai.shotDist(0)
else:
closestBulletDistance = math.inf
dcw = min(feelers)
distToNearestThreat = min(closestPlayerDistance, closestBulletDistance)
# Assign priority to nearest threat
if closestBulletDistance <= dcw and closestBulletDistance <= closestPlayerDistance: # if closest threat is a bullet
priority = 1
elif dcw <= closestPlayerDistance and dcw <= closestBulletDistance: # if closest threat is a wall
priority = 2
else: # closest threat is a player
priority = 3
if distToNearestThreat < nearLimitThreat:
ai.setPower(powerHigh)
# If the closest threat is a bullet
if priority == 1:
m = angleToPointDeg((ai.selfX(), ai.selfY()),
(ai.shotX(0), ai.shotY(0)))
if m >= 0:
ai.turnRight(1)
else:
ai.turnLeft(1)
if ai.shotAlert(0) < shotDanger:
ai.thrust(1)
# If the closest threat is a wall
elif priority == 2:
# Thrust
if ai.selfSpeed() <= speedLimit:
ai.thrust(1)
elif trackWall < nearLimit and angleDiff(heading, tracking) > 90:
ai.thrust(1)
elif rearWall < nearLimit and angleDiff(heading, tracking) > 90:
ai.thrust(1)
# Turn
if trackWall < nearLimit and leftWall < rightWall:
ai.turnRight(1)
elif trackWall < nearLimit and rightWall < leftWall:
ai.turnLeft(1)
elif backLeftWall < nearLimit and rightWall > 50:
ai.turnRight(1)
elif backRightWall < nearLimit and leftWall > 50:
ai.turnLeft(1)
elif frontRightWall < nearLimit:
ai.turnLeft(1)
elif frontLeftWall < nearLimit:
ai.turnRight(1)
# If the closest threat is a player
elif priority == 3:
m = angleToPointDeg((ai.selfX(), ai.selfY()),
(ai.shotX(0), ai.shotY(0)))
if m <= 0:
ai.turnRight(1)
else:
ai.turnLeft(1)
if ai.selfHeadingDeg() <= (targetingAccuracy + angleToPointDeg(
(ai.selfX(), ai.selfY()),
(ai.screenEnemyX(0), ai.screenEnemyY(0)))) and ai.selfHeadingDeg(
) >= (targetingAccuracy - angleToPointDeg(
(ai.selfX(), ai.selfY()),
(ai.screenEnemyX(0), ai.screenEnemyY(0)))):
ai.fireShot()
def __init__(self):
idE = ai.closestShipId()
super().__init__(idE)
def AI_loop():
""" The main loop for this agent!
Greenock is a rule-based expert system.
"""
# Release keys
ai.thrust(0)
ai.turnLeft(0)
ai.turnRight(0)
# Heuristics
sideFeelerOffset = 15 # Offsets from heading for wall feelers (degrees)
nearLimit = 20 * ai.selfSpeed(
) # Threshold for close objects (xp distance units)
shotDanger = 80 # Threshold for close bullets (xp distance units)
# Reset everything else
ai.setTurnSpeedDeg(20) # Artificial handicap!
# Acquire information
heading = int(ai.selfHeadingDeg())
tracking = int(ai.selfTrackingDeg())
frontLeftWall = ai.wallFeeler(500, heading + sideFeelerOffset)
frontRightWall = ai.wallFeeler(500, heading - sideFeelerOffset)
rshipnum = ai.closestShipId()
# Combat decisions
if (ai.shotAlert(0) > -1) and (ai.shotAlert(0) < shotDanger):
ai.turnToDeg(angleDiff(heading, ai.angleAdd(ai.shot_idir(0), 90)))
ai.thrust(1)
elif (ai.closestShipId() > -1):
ai.turnToDeg(angleDiff(heading, ai.aimdir(ai.closestShipId())))
ai.fireShot()
elif (rshipnum > -1):
ai.turnToDeg(angleDiff(heading, ai.aimdir(ai.closestShipId)))
if (ai.selfSpeed() < 10):
ai.thrust(1)
else:
ai.fireShot()
# Navigation decisions
if ((frontRightWall == frontLeftWall) and (frontRightWall < nearLimit)
and (ai.selfSpeed() > 1)):
ai.turnToDeg(angleDiff(heading, ai.angleAdd(180,
ai.selfTrackingDeg())))
ai.thrust(1)
elif ((frontRightWall < frontLeftWall) and (frontRightWall < nearLimit)
and (ai.selfSpeed() > 1)):
ai.turnToDeg(
angleDiff(heading,
ai.angleAdd(180, ai.angleAdd(-15,
ai.selfTrackingDeg()))))
ai.thrust(1)
elif ((frontRightWall > frontLeftWall) and (frontRightWall < nearLimit)
and (ai.selfSpeed() > 1)):
ai.turnToDeg(
angleDiff(heading,
ai.angleAdd(180, ai.angleAdd(15, ai.selfTrackingDeg()))))
ai.thrust(1)
def __init__(self, gain=FIRE_GAIN):
super(FireClosestEnemy, self).__init__(ai.closestShipId(), gain)