wizardofrobots · January 18, 2018 17:23 · Jan 18, 2018
diff --git a/zigzag.js b/zigzag.js
@@ -0,0 +1,64 @@
+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
+
+}
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