# robosoccer-kit: 0.3.0
"""Starter: run with robosoccer run my_bot.py --vs chaser --seed 3."""

import math


def setup(info: dict) -> dict | None:
    """Called once per team; initial state is copied into each robot's memory slot."""
    return {"speed": info["robot"]["cruise_speed"], "last_bearing": 0.0}


def act(robot_id: int, sensors: dict, memory: dict) -> dict:
    """Called independently per robot. Use broadcast for team coordination."""
    balls = [obj for obj in sensors["camera"] if obj["kind"] == "ball"]
    if balls:
        ball = min(balls, key=lambda obj: obj["distance"])
        memory["last_bearing"] = ball["bearing"]
        return {"move": (memory["speed"] * max(0, math.cos(ball["bearing"])),
                         4 * ball["bearing"]),
                "kick": 1.0 if sensors["ball_in_kicker"] else 0.0,
                "broadcast": [robot_id, ball["bearing"], ball["distance"]]}
    turn = 1.4 if memory["last_bearing"] >= 0 else -1.4
    return {"move": (0.0, turn), "kick": 0.0}