Code

Board.java

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+package net.obviam.bt;
+
+import java.util.ArrayList;
+import java.util.List;
+
+public class Board {
+
+    final int width;
+    final int height;
+
+    private List<Droid> droids = new ArrayList<Droid>();
+
+    public Board(int width, int height) {
+        this.width = width;
+        this.height = height;
+    }
+
+    public int getWidth() {
+        return width;
+    }
+
+    public int getHeight() {
+        return height;
+    }
+
+    public void addDroid(Droid droid) {
+        if (isTileWalkable(droid.getX(), droid.getY())) {
+            droids.add(droid);
+            droid.setBoard(this);
+        }
+    }
+
+    public boolean isTileWalkable(int x, int y) {
+        for (Droid droid : droids) {
+            if (droid.getX() == x && droid.getY() == y) {
+                return false;
+            }
+        }
+        return true;
+    }
+
+    public List<Droid> getDroids() {
+        return droids;
+    }
+}

Droid.java

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+package net.obviam.bt;
+
+import net.obviam.bt.ai.Routine;
+
+public class Droid {
+
+    final String name;
+    int x;
+    int y;
+    int range;
+    int damage;
+    int health;
+
+    Routine routine;
+    Board board;
+
+    public Droid(String name, int x, int y, int health, int damage, int range) {
+        this.name = name;
+        this.x = x;
+        this.y = y;
+        this.health = health;
+        this.damage = damage;
+        this.range = range;
+    }
+
+    public void update() {
+        if (routine.getState() == null) {
+            // hasn't started yet so we start it
+            routine.start();
+        }
+        routine.act(this, board);
+    }
+
+    public int getX() {
+        return x;
+    }
+
+    public void setX(int x) {
+        this.x = x;
+    }
+
+    public int getY() {
+        return y;
+    }
+
+    public void setY(int y) {
+        this.y = y;
+    }
+
+    public int getRange() {
+        return range;
+    }
+
+    public void setRange(int range) {
+        this.range = range;
+    }
+
+    public int getDamage() {
+        return damage;
+    }
+
+    public void setDamage(int damage) {
+        this.damage = damage;
+    }
+
+    public int getHealth() {
+        return health;
+    }
+
+    public void setHealth(int health) {
+        this.health = health;
+    }
+
+    public boolean isAlive() {
+        return health > 0;
+    }
+
+    public Routine getRoutine() {
+        return routine;
+    }
+
+    public void setRoutine(Routine routine) {
+        this.routine = routine;
+    }
+
+    public String getName() {
+        return name;
+    }
+
+    public void setBoard(Board board) {
+            this.board = board;
+     }
+
+    @Override
+    public String toString() {
+        return "Droid{" +
+                "name=" + name +
+                ", x=" + x +
+                ", y=" + y +
+                ", health=" + health +
+                ", range=" + range +
+                ", damage=" + damage +
+                '}';
+    }
+}

Main.form

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+<?xml version="1.0" encoding="UTF-8"?>
+<form xmlns="http://www.intellij.com/uidesigner/form/" version="1" bind-to-class="net.obviam.bt.Main">
+  <grid id="27dc6" binding="mainPanel" layout-manager="GridLayoutManager" row-count="5" column-count="5" same-size-horizontally="false" same-size-vertically="false" hgap="-1" vgap="-1">
+    <margin top="0" left="0" bottom="0" right="0"/>
+    <constraints>
+      <xy x="20" y="20" width="521" height="403"/>
+    </constraints>
+    <properties/>
+    <border type="none"/>
+    <children>
+      <grid id="a88e" binding="canvas" layout-manager="GridLayoutManager" row-count="1" column-count="1" same-size-horizontally="false" same-size-vertically="false" hgap="-1" vgap="-1">
+        <margin top="0" left="0" bottom="0" right="0"/>
+        <constraints>
+          <grid row="0" column="0" row-span="2" col-span="2" vsize-policy="3" hsize-policy="3" anchor="0" fill="3" indent="0" use-parent-layout="false"/>
+        </constraints>
+        <properties>
+          <background color="-1118482"/>
+          <enabled value="true"/>
+        </properties>
+        <border type="none"/>
+        <children/>
+      </grid>
+    </children>
+  </grid>
+</form>

Main.java

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+package net.obviam.bt;
+
+import net.obviam.bt.ai.Routine;
+import net.obviam.bt.ai.Routines;
+
+import javax.swing.*;
+
+public class Main {
+    private JPanel panel1;
+    private JPanel mainPanel;
+    private JPanel canvas;
+
+    public static void main(String[] args) {
+//        JFrame frame = new JFrame("Main");
+//        frame.setPreferredSize(new Dimension(800, 600));
+//        frame.setResizable(false);
+//        frame.setContentPane(new Main().mainPanel);
+//        frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
+//        frame.pack();
+//        frame.setVisible(true);
+
+        Board board = new Board(25, 25);
+        Droid droid1 = new Droid("Droid_1", 2, 2, 10, 1, 3);
+        Droid droid2 = new Droid("Droid_2", 10, 10, 10, 2, 2);
+
+        Routine brain1 = Routines.sequence(
+                Routines.moveTo(5, 10),
+                Routines.moveTo(15, 12),
+                Routines.moveTo(2, 4)
+        );
+        droid1.setRoutine(brain1);
+
+        Routine brain2 = Routines.sequence(
+            Routines.repeat(Routines.wander(board), 4)
+        );
+        droid2.setRoutine(brain2);
+
+        for (int i = 0; i < 30; i++) {
+            System.out.println(droid1.toString());
+            System.out.println(droid2.toString());
+            droid1.update();
+            droid2.update();
+        }
+    }
+}

Test.java

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+package net.obviam.bt;
+
+import net.obviam.bt.ai.Repeat;
+import net.obviam.bt.ai.Routine;
+import net.obviam.bt.ai.Wander;
+
+public class Test {
+
+    public static void main(String[] args) {
+        // Setup
+        Board board = new Board(10, 10);
+
+        Droid droid = new Droid("MyDroid", 5, 5, 10, 1, 2);
+        board.addDroid(droid);
+
+        Routine routine = new Repeat((new Wander(board)));
+        droid.setRoutine(routine);
+        System.out.println(droid);
+
+        for (int i = 0; i < 10; i++) {
+            droid.update();
+            System.out.println(droid);
+        }
+    }
+}