Broken.java

import uk.ac.warwick.dcs.maze.logic.IRobot;

public class Broken {

  private byte isTargetNorth(IRobot robot) {
    if (robot.getLocation().y == robot.getTargetLocation().y) return 0;
    else return (byte)(robot.getLocation().y > robot.getTargetLocation().y?1:-1);
  }

  private byte isTargetEast(IRobot robot) {
    if (robot.getLocation().x == robot.getTargetLocation().x) return 0;
    else return (byte)(robot.getLocation().x > robot.getTargetLocation().x?-1:1);
  }

  private int lookHeading(IRobot robot, int direction) {
    return robot.look(switch (direction - robot.getHeading()) {
      case -3,1 -> IRobot.RIGHT;
      case -2,2 -> IRobot.BEHIND;
      case -1,3 -> IRobot.LEFT;
      default   -> IRobot.AHEAD;
    });
  }

  private int headingController(IRobot robot) {
    /*
     * When the value of direction equal to 0 means it's a wall
     * When the value of direction less than 0 means it's not the first choice
     */
    int direction[] = new int[]{IRobot.NORTH, IRobot.EAST, IRobot.SOUTH, IRobot.WEST};
    int result = 0;

    for (int i = 0; i < 4; i++) {
      direction[i] *= (lookHeading(robot, direction[i]) == IRobot.WALL)?0:1;
    }

    direction[0] *= isTargetNorth(robot)*1;
    direction[1] *= isTargetEast(robot)*1;
    direction[2] *= isTargetNorth(robot)*-1;
    direction[3] *= isTargetEast(robot)*-1;

    for (int i = 0; i < 4; i++) if (direction[i] > 0) result++;
    if (result == 0) for (int i = 0; i < 4; i++) direction[i] *= -1;//If all directions are either walls or second choices, make all second choices first choices

    result = (int)(Math.random()*4);
    while (direction[result] <= 0) result = (int)(Math.random()*4);//If the result not the first choise, re-randomize direction

    return direction[result];
  }

  public void reset() {
    ControlTest.printResults();
  }

  public void controlRobot(IRobot robot) {
    int heading = headingController(robot);
    ControlTest.test(heading, robot);
    robot.setHeading(heading);
  }

}