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Direction will be in degrees (going clockwise from 'north'). The coordinate system will have (0,0) bottom left.
We'll start by setting some constants and creating some enumerated types.
const float PI = 3.14159;
const int arena_size =400; // side of arena in pixels
const int turn_amount=20; // how much direction can change by each time
enum Team {Green, Red, Blue};
enum Quadrant {NWQuadrant, NEQuadrant, SEQuadrant, SWQuadrant};
enum Direction {NWDirection, NEDirection, SEDirection, SWDirection};
enum Turn {Left, Straight, Right};
Now to write some little routines. None of them will be more than 10 lines or so. You may like to test them as you go along.