Beetle Navigation

breed [ boxes box ]

breed [ beetles beetle ]

beetles-own [
  beetle-home
  distance-home
  moving-timer
  time-reorienting
  x-position
  y-position
]

to setup
  clear-all
  ask patches [ set pcolor green + (random-float 0.8) - 0.4 ]
  setup-beetle
  setup-obstacles
  reset-ticks
end 

to setup-beetle
  create-beetles 1 [
    set shape "bug"
    set color black
    set size 3.5
  ]
  ask beetles [
    setxy -24 0
    facexy 25 0
    set moving-timer number-steps
    set time-reorienting reorient-timer
    set beetle-home patch-here
    ifelse show-pen?
      [ pen-down ]
      [ pen-up ]
  ]
end 

to setup-obstacles
  ask n-of number-obstacles patches with [
    distancexy -25 0 > 4 and abs pxcor < (max-pxcor - 5) and
    abs pycor < (max-pycor - 5)
  ] [
    sprout-boxes 1 [
      set shape "circle"
      set size size-obstacles
      set color 1.5
    ]
  ]
end 

to go
  if all? beetles [ xcor >= 24 ]
  [ stop ]
  ask beetles [
  ifelse moving-timer >= 1
    [ move-beetles ]
    [ reorient ]
  ]
  tick
end 

to move-beetles
  ask beetles [
    set heading random-float step-angle + 90
    fd 1
    set distance-home distance beetle-home
    set moving-timer moving-timer - 1
    if count boxes in-cone (size-obstacles) 180 > 0
    [ go-another-direction ]
    if abs pxcor >= 25 or abs pycor >= 24
    [ set heading random 360
      bk 1 ]
  ]
end 

to go-another-direction
  ask beetles [
    let target one-of boxes in-radius size-obstacles
    set x-position [ xcor ] of target
    set y-position [ ycor ] of target
    ifelse step-angle < 90 [
      ifelse y-position > ycor
      [ lt random 45
        bk 1
        lt random 90
        bk 1 ]
      [ rt random 45
        bk 1
        rt random 90
        bk 1 ]
    ]
    [
      if x-position < xcor and y-position < ycor
      [ case-one ]
      if x-position > xcor and y-position > ycor
      [ case-one ]
      if x-position > xcor and y-position < ycor
      [ case-two ]
      if x-position < xcor and y-position > ycor
      [ case-two ]
    ]
  ]
end 

to case-one
  ask beetles [
    bk 1
    rt random 15
    bk 1
]
end 

to case-two
  ask beetles [
    bk 1
    lt random 15
    bk 1
]
end 

to reorient
  ask beetles [
    set shape "rotating bug"
    set color 3
    set heading heading + ( 1 / reorient-timer ) * 360
    set time-reorienting time-reorienting - 1
    if time-reorienting < 1 [
      set heading 90
      set shape "bug"
      set color black
      set moving-timer number-steps
      set time-reorienting reorient-timer
    ]
  ]
end