working well

HauBot.iml

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+<?xml version="1.0" encoding="UTF-8"?>
+<module type="JAVA_MODULE" version="4">
+  <component name="NewModuleRootManager" inherit-compiler-output="true">
+    <exclude-output />
+    <content url="file://$MODULE_DIR$">
+      <sourceFolder url="file://$MODULE_DIR$/src" isTestSource="false" />
+    </content>
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+    <orderEntry type="library" name="robocode" level="project" />
+  </component>
+</module>

src/HauBot.java

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+package hau;
+/**
+ * Created by PDK on 30.06.2015.
+ */
+import robocode.*; // robocode.jar must be in Classpath..
+
+import java.awt.Color;
+import java.util.Random;
+
+public class HauBot extends RateControlRobot {
+    double setCourse = 270; // drive left at start
+    double yawGunRate = 20;
+    double yawRadarRate = 90;
+    double yawRate = 20;
+
+    //// PRIVATES
+    private double changeDirection(double Rate) {
+        return Rate * -1;
+    }
+    private void hauInit() {
+        setAdjustRadarForGunTurn(true);
+        setAdjustGunForRobotTurn(true);
+    }
+    private void setHeading(int degrees) {
+        // this command stops the bot and lets him turn ... this command is 'blocking'
+        if (getHeading() != degrees) {
+            turnRight(robocode.util.Utils.normalRelativeAngleDegrees(degrees - getHeading()));
+        }
+    }
+    private void yawHeading(double wantedHeading) {
+        double bearingToWantedHeading;
+
+        bearingToWantedHeading = robocode.util.Utils.normalRelativeAngleDegrees(wantedHeading - getHeading());
+
+        setDebugProperty("getHeading", String.valueOf(getHeading()));
+        setDebugProperty("wantedHeading", String.valueOf(wantedHeading));
+        setDebugProperty("bearingToWantedHeading", String.valueOf(bearingToWantedHeading));
+
+        if (Math.abs(bearingToWantedHeading) <= 3) {
+            turnRight(bearingToWantedHeading);
+        }
+
+        if (bearingToWantedHeading > 0) {
+            setTurnRate(yawRate);
+            setDebugProperty("setTurnRate", String.valueOf(yawRate));
+        }
+        if (bearingToWantedHeading < 0) {
+            setTurnRate(0 - yawRate);
+            setDebugProperty("setTurnRate", String.valueOf(0 - yawRate));
+        }
+        if (bearingToWantedHeading == 0) {
+            setTurnRate(0);
+            setDebugProperty("setTurnRate", String.valueOf(0));
+        }
+    }
+    private void hauRadar() {
+        setRadarRotationRate(yawRadarRate);
+    }
+    private void hauMove() {
+        Random randomGenerator = new Random();
+        int rndBack = randomGenerator.nextInt(30);
+        int rndFwd = randomGenerator.nextInt(30);
+        int randomAhead = randomGenerator.nextInt(8) + 2;
+
+        setVelocityRate(randomAhead);
+
+        int abstandVonWand = 75;
+        // linke wand
+        if ((getX() < 0 + abstandVonWand + getWidth())
+                && getY() < getBattleFieldHeight() + getHeight()
+                && setCourse != 0) {
+            // nach oben fahren
+            setCourse = 0;
+        }
+
+        // obere wand
+        if ((getY() > getBattleFieldHeight() - abstandVonWand - getHeight())
+                && getX() < getBattleFieldWidth() + getWidth()
+                && setCourse != 90 ) {
+            // nach rechts fahren
+            setCourse = 90;
+        }
+
+        // rechte wand
+        if ((getX() > getBattleFieldWidth() - abstandVonWand - getWidth())
+                && getY() > 5 + getHeight()
+                && setCourse != 180) {
+            // nach unten fahren
+            setCourse = 180;
+        }
+
+        // untere wand
+        if ((getY() < 0 + abstandVonWand + getHeight())
+                && getX() > 5 + getWidth() + abstandVonWand
+                && setCourse != 270) {
+            // nach links fahren
+            setCourse = 270;
+        }
+        yawHeading(setCourse);
+    }
+
+    //// PUBLICS
+    public void onScannedRobot(ScannedRobotEvent e) {
+        double bearingToEnemyFromTankHeading = getHeading() + e.getBearing();
+        double bearingToEnemyFromGunHeading = robocode.util.Utils.normalRelativeAngleDegrees(bearingToEnemyFromTankHeading - getGunHeading());
+        double bearingToEnemyFromRadarHeading = robocode.util.Utils.normalRelativeAngleDegrees(bearingToEnemyFromTankHeading - getRadarHeading());
+
+        out.println("scanned him: " + e.getName());
+
+        double parallelZurKanoneToleranz = 40;
+
+        double fireModifiers = 1.1;
+
+        // change direction.. chances are high, we scan him again
+        yawRadarRate = changeDirection(yawRadarRate);
+        //turnRadarRight(bearingToEnemyFromRadarHeading); // lock on
+        // yawRadarRate = yawRadarRate;
+
+        // If the bearing in degrees is less than 10 ..
+        if (Math.abs(bearingToEnemyFromGunHeading) <= 5) {
+            // adjust last little degrees ...
+            turnGunRight(bearingToEnemyFromGunHeading);
+            if (e.getVelocity() == 0) {
+                out.println(e.getName() + " steht ..");
+                fireModifiers = fireModifiers + 1;
+            }
+            //     90             <                                        360 - 270 + 20 (=110
+            //     90             >                                                  - 20 (=70)
+            //
+            if ( (getGunHeading() < robocode.util.Utils.normalAbsoluteAngleDegrees(360 - e.getHeading()) + parallelZurKanoneToleranz) &&
+                 (getGunHeading() > robocode.util.Utils.normalAbsoluteAngleDegrees(360 - e.getHeading()) - parallelZurKanoneToleranz) ) {
+                out.println(e.getName() + "faehrt in meine Kanone rein");
+                fireModifiers = fireModifiers + 1.5;
+            }
+            if (e.getDistance() < 200) {
+                fireModifiers = fireModifiers + 1;
+            }
+            if (e.getDistance() > 450) {
+                fireModifiers = fireModifiers - 1;
+            }
+            if (getGunHeat() == 0) {
+                fireModifiers = fireModifiers + 1;
+            }
+            fire(Math.min(fireModifiers, getEnergy() - .1));
+
+            //hauMove(); // we call it .. because otherwise we block execution while turning radar and gun..
+            //execute();
+            //scan();
+        }
+        // otherwise just set the gun to turn.
+        else {
+            turnGunRight(bearingToEnemyFromGunHeading);
+            /*if (bearingToEnemyFromGunHeading > 0) {
+                setGunRotationRate(yawGunRate);
+            }
+            if (bearingToEnemyFromGunHeading < 0) {
+                setGunRotationRate(0 - yawGunRate);
+            }
+            if (bearingToEnemyFromGunHeading == 0) {
+                //scan();
+            } */
+            //yawGunRate = bearingToEnemyFromGunHeading * 0.1;
+            //setGunRotationRate(yawGunRate);
+            //setDebugProperty("yawGunRate", String.valueOf(yawGunRate));
+        }
+
+        // Generates another scan event if we see a robot.
+        // We only need to call this if the gun (and therefore radar)
+        // are not turning.  Otherwise, scan is called automatically.
+/*
+        if (e.getVelocity() == 0 && e.getDistance() < 150) {
+            fire(4);
+            //turnRight(e.getBearing());
+            //if (e.getDistance() < 500) {
+            //    ahead(510);
+            //}
+        }
+        else {
+            setAdjustGunForRobotTurn(true);
+            turnRight(e.getBearing() + 90);
+            if (e.getBearing() - getGunHeading() == 0) {
+                fire(3);
+            }
+            setAdjustGunForRobotTurn(false);
+        }
+        fire(2); */
+
+    }
+    public void onHitByBullet(HitByBulletEvent e) {
+        // Replace the next line with any behavior you would like
+        //Random randomGenerator = new Random();
+        //int rndBack = randomGenerator.nextInt(30);
+        //back(rndBack);
+    }
+    public void onHitWall(HitWallEvent e) {
+        // doing nothing yet
+    }
+    public void run() {
+        setColors(Color.lightGray, Color.gray, Color.darkGray);
+        setScanColor(Color.yellow);
+
+        hauInit();
+
+        while(true) {
+            hauMove();
+            hauRadar();
+            execute();
+        }
+
+    }
+
+}

src/META-INF/MANIFEST.MF

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+Manifest-Version: 1.0
+Main-Class: HauBot
+