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biobot/BioBot/BBMotor

This website contains an archive of files for the Acorn Electron, BBC Micro, Acorn Archimedes, Commodore 16 and Commodore 64 computers, which Dominic Ford has rescued from his private collection of floppy disks and cassettes.

Some of these files were originally commercial releases in the 1980s and 1990s, but they are now widely available online. I assume that copyright over them is no longer being asserted. If you own the copyright and would like files to be removed, please contact me.

Tape/disk: Home » Personal collection » Acorn hard disk » misc » misc2
Filename: biobot/BioBot/BBMotor
Read OK: ✔
File size: 2447 bytes
Load address: 0000
Exec address: 0000
Duplicates

There are 2 duplicate copies of this file in the archive:

File contents
   10 REM BallBot V4.0
   20 REM Real-Time Version with Continuous Testing Option
   30 REM New mechanical robot design changes (two motor drive)
   40 REM (C) Dominic Ford 1997
   50 :
   60 REM Welcome screen
   70 MODE6:@%=&905:PRINT" BallBot Artificial Intelligence Module"'"Simulation Tester V4.0 Real Time Version"''"Programmed and Designed by Dominic Ford"''SPC(16);"(C) 1997"
   80 PRINT'''"1. Real-Time Simulation"''"2. Logged Continuous Runs"''"3. Do specific run"
   90 REPEAT type$=GET$:UNTIL type$="1" OR type$="2" OR type$="3"
  100 :
  110 REM Setup variables
  120 ON ERROR OSCLI"CLOSE":REPORT:PRINT" at line ";ERL:END
  130 VOICE 1,"StringLib-Soft":*STEREO 1 0
  140 VOICE 2,"StringLib-Soft":*STEREO 2 -127
  150 VOICE 3,"StringLib-Soft":*STEREO 3 127
  160 current=0:DIMball(4,1):bbx=640:bby=950:dir=270:PROCsetupbb
  170 MODE12:IF type$="1" THEN MOUSE ON:PROCdrawfull
  180 IF type$="2" THEN start=TIME:stage=0:idle=FALSE:INPUT"Filename";f$:OSCLI"SPOOL "+f$
  190 IF type$="3" THEN PRINT"Enter Data:"':FORb=0TO4:PRINT"Ball ";b+1;:INPUTball(b,0),ball(b,1):NEXT:type$="1":MOUSE ON:PROCdrawfull
  200 :
  210 REM Start main loop
  220 REPEAT:T=TIME
  230 IF type$="1" THEN PROCuser ELSE PROCcompmon
  240 IF idle THEN UNTIL FALSE
  250 PROCsense
  260 mov=FNai(freqa,freqb,freqc)
  270 left=(mov AND 1)<>0
  280 right=(mov AND 2)<>0
  290 turbo=(mov AND 4)<>0
  300 on=(mov AND 8)<>0
  310 PROCmoveit
  320 PRINTTAB(0,2)TIME-T
  330 REPEAT UNTIL TIME>(T+15)
  340 UNTIL FALSE
  350 :
  360 REM Graphic interface
  370 DEFPROCdrawfull
  380 REM Set up constants
  390 LOCALsx,sy,width
  400 sx=1:sy=2:width=10
  410 REM Setup Colours
  420 COLOUR0,0,64,0:COLOUR1,255,0,0:COLOUR2,255,255,255:COLOUR3,255,0,0:COLOUR4,255,255,0:COLOUR5,0,0,0:COLOUR6,255,255,0
  430 :
  440 REM Draw green court area
  450 CLS:GCOL0,0:RECTANGLE FILL 0,0,1279,1023
  460 REM Mark out white lines onto court
  470 GCOL0,2:RECTANGLE FILL sx/(23.77+2*sx)*1280,sy/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width:RECTANGLE FILL sx/(23.77+2*sx)*1280,(1.37+sy)/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width
  480 RECTANGLE FILL sx/(23.77+2*sx)*1280,(9.6+sy)/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width:RECTANGLE FILL sx/(23.77+2*sx)*1280,(10.97+sy)/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width
  490 RECTANGLE FILL (sx+5.47)/(23.77+2*sx)*1280,(sy+5.49)/(10.97+2*sy)*1024,12.8/(23.77+2*sx)*1280,width
  500 RECTANGLE FILL sx/(23.77+2*sx)*1280,sy/(10.97+2*sy)*1024,width,10.97/(10.97+2*sy)*1024:RECTANGLE FILL (sx+23.77)/(23.77+2*sx)*1280,sy/(10.97+2*sy)*1024,width,10.97/(10.97+2*sy)*1024+width
  510 RECTANGLE FILL (sx+5.47)/(23.77+2*sx)*1280,(sy+1.37)/(10.97+2*sy)*1024,width,8.23/(10.97+2*sy)*1024:RECTANGLE FILL (sx+18.3)/(23.77+2*sx)*1280,(sy+1.37)/(10.97+2*sy)*1024,width,8.23/(10.97+2*sy)*1024
  520 :
  530 REM Draw net
  540 GCOL0,5:FORl=100TO924STEP10:MOVE 640,l:DRAW 680,l+50:NEXT:FORl=0TO40STEP10:MOVE 640+l,100+l:DRAW640+l,924+l:NEXT:FORl=0TO5:MOVE637+l,100:DRAW677+l,150:MOVE637+l,924:DRAW677+l,974:NEXT
  550 GCOL0,2:MOVE 682,142:DRAW682,966
  560 PROCdrawmini
  570 ENDPROC
  580 :
  590 REM Draw ballbot and balls
  600 DEFPROCdrawmini
  610 IF type$="2" THEN ENDPROC
  620 GCOL3,4:FORb=0TO4
  630 IF ball(b,0)<>0 OR ball(b,1)<>0 THEN RECTANGLE FILL ball(b,0),ball(b,1),5,5
  640 NEXT
  650 GCOL3,3:RECTANGLE FILL bbx,bby,5,5
  660 ENDPROC
  670 :
  680 REM User interface (putting balls down)
  690 DEFPROCuser
  700 MOUSE x,y,c
  710 IF c=0 THEN ENDPROC
  720 IF (c AND 4)<>0 THEN PROCdrawmini:ball(current,0)=x:ball(current,1)=y:current=(current+1)MOD5:PROCdrawmini
  730 IF (c AND 2)<>0 THEN idle=FALSE:stage=0:start=TIME
  740 REPEAT
  750 MOUSE x,y,c
  760 UNTIL c=0
  770 ENDPROC
  780 :
  790 REM Calculate ballbot's new position
  800 DEFPROCmoveit
  810 LOCAL speed
  820 IF left AND (NOT right) THEN dir=dir-2.5*(1-3*turbo):speed=0.1
  830 IF right AND (NOT left) THEN dir=dir+2.5*(1-3*turbo):speed=0.1
  840 IF left AND right THEN speed=1
  850 :
  860 REM Get direction in range 0<theta<360
  870 REPEAT IF dir<0 THEN dir=dir+360
  880 IF dir>=360 THEN dir=dir-360
  890 UNTIL dir>=0 AND dir<360
  900 :
  910 PROCdrawmini:bbx=bbx+15*SIN(PI*dir/180)*speed*(.75*-turbo+.25)
  920 bby=bby+20*COS(PI*dir/180)*speed*(.75*-turbo+.25)
  930 FORball=0TO4:IF ABS(bbx-ball(ball,0))<10 AND ABS(bby-ball(ball,1))<10 THEN ball(ball,0)=0
  940 NEXT:PROCdrawmini
  950 ENDPROC
  960 :
  970 REM Calculate ballbot's background echo reading (-balls)
  980 DEFFNback(freq,min,max)
  990 REM Get angular range in form 0<theta<360
 1000 REM Set up initial outside range settings
 1010 hit=0:dist=0:dista=9999:hita=0:REM LOCAL hit,dist,hita,dista
 1020 REM If straight at net is in range, will be shortest.
 1030 IF(bbx<640ANDmin<=90ANDmax>=90)OR(bbx>640ANDmin<=270ANDmax>=270) AND (bby>100 AND bby<923) THEN hit=bby:dist=ABS(bbx-640):min=0:max=0
 1040 REM Otherwise find shortest extreme of range
 1050 IF SIN(PI*min/180)<>0 THEN dist=(640-bbx)/SIN(PI*min/180):hit=bby+(640-bbx)/TAN(PI*min/180)
 1060 IF SIN(PI*max/180)<>0 THEN dista=(640-bbx)/SIN(PI*max/180):hita=bby+(640-bbx)/TAN(PI*max/180)
 1070 REM Just check if post in middle of range
 1080 IF bbx<640 AND hit>100 AND (hita<100 OR dista<0) AND dist>0 THEN hita=100:dista=SQR((bbx-640)^2+(bby-100)^2)
 1090 IF bbx<640 AND hita<923 AND (hit>923 OR dist<0) AND dista>0 THEN hit=923:dist=SQR((bbx-640)^2+(bby-923)^2)
 1100 IF bbx>640 AND hita>100 AND (hit<100 OR dist<0) AND dista>0 THEN hit=100:dist=SQR((bbx-640)^2+(bby-100)^2)
 1110 IF bbx>640 AND hit<923 AND (hita>923 OR dista<0) AND dist>0 THEN hita=923:dista=SQR((bbx-640)^2+(bby-923)^2)
 1120 REM Pick best to send off!
 1130 IF dist<0 OR (dista<dist AND hita>100 AND hita<923) THEN dist=dista:hit=hita
 1140 IF hit>923 OR hit<100 OR dist<0 THEN ftype$="U":=freq+RND(6)-3
 1150 IF hit>900 OR hit<123 THEN ftype$="P":=dist
 1160 ftype$="N"
 1170 =dist
 1180 :
 1190 REM Calculate Ballbot's readings (MAIN ROUTINE)
 1200 :
 1210 DEFPROCsense
 1220 REM Get background readings from FNback
 1230 freq=RND(250)+1500
 1240 freqa=FNback(freq,dir-15,dir+15):fa$=ftype$
 1250 freqb=FNback(freq,dir-45,dir-15):fb$=ftype$
 1260 freqc=FNback(freq,dir+15,dir+45):fc$=ftype$
 1270 :
 1280 REM Add any relevant balls to readings (using hairy trigonometry)
 1290 :
 1300 FORball=0TO4
 1310 d%=SQR((ball(ball,0)-bbx)^2+(ball(ball,1)-bby)^2)
 1320 IF ball(ball,0)=0 THEN d%=9999
 1330 a=FNangle(ball(ball,0),ball(ball,1),bbx,bby)-dir:IFa>180 THEN a=a-360
 1340 IF ABS(a)<15 AND freqa>d% THEN freqa=d%:fa$="B"
 1350 IF a>-46 AND a<=-15 AND freqb>d% THEN freqb=d%:fb$="B"
 1360 IF a>=15 AND a<46 AND freqc>d% THEN freqc=d%:fc$="B"
 1370 NEXT
 1380 :
 1390 REM Update user displays
 1400 :
 1410 IF type$="2" THEN ENDPROC
 1420 PRINTTAB(0,0)INT((TIME-start)/6000);":";(INT((TIME-start)/100)MOD60);" "
 1430 PRINTTAB(0,31)fb$,fa$,fc$,stage,INT(searching),left,right,dir;
 1440 SOUND 1,-1,freqa/4,5:SOUND 2,-1,freqb/4,5:SOUND 3,-1,freqc/4,5
 1450 ENDPROC
 1460:
 1470 REM Calculate bearing of B from A
 1480 DEFFNangle(x1,y1,x2,y2)
 1490 IF y2=y1 THEN ang=90 ELSE ang=180*ATN((x2-x1)/(y2-y1))/PI
 1500 IF (y2>y1) THEN ang=ang+180
 1510 IF ang<0 THEN ang=ang+360
 1520 =ang MOD 360
 1530 :
 1540 REM Computer Monitor of BallBot's progress
 1550 DEFPROCcompmon
 1560 IF idle AND (ball(0,0)<>0 OR ball(1,0)<>0 OR ball(2,0)<>0 OR ball(3,0)<>0 OR ball(4,0)<>0) THEN st$="Fail" ELSE st$="Pass"
 1570 IF idle THEN PRINTst$,INT((TIME-start)/6000);":";(INT((TIME-start)/100)MOD60)
 1580 IF TIME>start+36000 THEN idle=TRUE:PRINT"Time","****"
 1590 IFbbx>630ANDbbx<650ANDbby>100ANDbby<923THENidle=TRUE:PRINT"Crash","****"
 1600 IF idle THEN bbx=640:bby=950:dir=270:stage=0:PROCsetupbb:start=TIME:FORb=0TO4:ball(b,0)=RND(1280):ball(b,1)=RND(1024):NEXT
 1610 IF idle THEN PRINT"[";ball(0,0);",";ball(0,1);"] [";ball(1,0);",";ball(1,1);"] [";ball(2,0);",";ball(2,1);"] [";ball(3,0);",";ball(3,1);"] [";ball(4,0);",";ball(4,1);"]",;:idle=FALSE
 1620 ENDPROC
 1630 :
 1640 REM BALLBOT ROBOTIC INTELLIGENCE MODULE
 1650 :
 1660 DEFFNai(freqa,freqb,freqc)
 1670 REM Artificial intelligence routines (ie. What Next??)
 1680 LOCALleft,right,turbo
 1690 left=FALSE:right=FALSE:turbo=FALSE
 1700 :
 1710 REM What stage are we in? Hunt for balls or move to new area?
 1720 IF near<>0 AND stage<8 THEN PROCdonearstuff
 1730 IF near=0 AND (stage=0 OR stage=2) THEN PROChunt
 1740 IF near=0 AND (stage=1 OR stage=3) THEN PROCmoveout
 1750 IF stage=4 THEN PROCreleaseb
 1760 :
 1770 REM Prepare output into binary for transmission
 1780 feed=0:IF left THEN feed=feed+1
 1790 IF right THEN feed=feed+2
 1800 IF turbo THEN feed=feed+4
 1810 IF idle THEN feed=feed+8
 1820 =feed
 1830 :
 1840 REM Perform a sweep to find any balls
 1850 DEFPROChunt
 1860 REM Watch out if too near to net
 1870 REMIF(freqa<20AND fa$<>"B")OR(freqb<20AND fb$<>"B")OR(freqc<20AND fc$<>"B")ANDfa$="B"THEN:ENDPROC
 1880 :
 1890 REM Rotate to face ball
 1900 REM Where search after this ball?
 1910 IF (fb$="B" AND freqb>150) THEN tending=0
 1920 IF fc$="B" AND freqc>150 THEN tending=1
 1930 REM Pick best ball to aim at
 1940 dist=freqa*0.75:IF dist>freqb AND fb$="B" AND (freqb<freqc OR fc$<>"B") THEN steer=-1:left=TRUE:ENDPROC
 1950 IF dist>freqc AND fc$="B" THEN steer=1:right=TRUE:ENDPROC
 1960 IF fa$="B" THEN left=(steer<>1):right=(steer<>-1):steer=0:searching=searching/2:turbo=freqa>100:ENDPROC
 1970 IF fb$="B" THEN steer=-1:left=TRUE:ENDPROC
 1980 IF fc$="B" THEN steer=1:right=TRUE:ENDPROC
 1990 :
 2000 REM If no ball in sight, continue rotation...
 2010 searching=searching+1:turbo=(searching>5):steer=0
 2020 IF (tending AND 1)<>0 THEN right=TRUE ELSE left=TRUE
 2030 IF searching=5 THEN tending=(tending EOR 1)
 2040 IF searching>50 THEN stage=stage+1
 2050 ENDPROC
 2060 :
 2070 REM Find edge of net and aim for it to move to other side
 2080 DEFPROCmoveout
 2090 REM Watch out if too near to net
 2100 IF (freqa<30 OR freqb<30 OR freqc<30) OR (reving>0 AND (freqa<250 OR freqb<250 OR freqc<250)) THEN reving=5:right=TRUE:left=FALSE:ENDPROC
 2110 IF reving>0 THEN turbo=TRUE:left=TRUE:right=TRUE:reving=reving-1:ENDPROC
 2120 REM Align ballbot to face the net post...
 2130 IF fa$="N" OR fa$="P" THEN right=TRUE:ENDPROC
 2140 IF fb$<>"N" AND fb$<>"P" THEN left=TRUE:steer=6:ENDPROC
 2150 IF fb$="P" AND freqb<100 AND fa$<>"P" AND fa$<>"N" THEN near=1:ENDPROC
 2160 IF steer>0 THEN steer=steer-1:left=TRUE:ENDPROC
 2170 turbo=TRUE:left=TRUE:right=TRUE
 2180 ENDPROC
 2190 :
 2200 REM Nearly there... Just need a little nudge in the right direction.
 2210 DEFPROCdonearstuff
 2220 REM Watch out if too near to net
 2230 IF near<6 THEN right=TRUE:left=FALSE:near=near-(fa$="U")
 2240 IF near<10 THEN left=TRUE:turbo=TRUE:right=TRUE:near=near+1:ENDPROC
 2250 IF near<15 THEN left=TRUE:turbo=TRUE:right=FALSE:near=near+1:ENDPROC
 2260 left=TRUE:turbo=TRUE:right=TRUE:near=near+1
 2270 IF near>18 THEN near=0:stage=stage+1:searching=0:tending=1
 2280 ENDPROC
 2290 :
 2300 REM Initialise BallBot variables at the beginning of a run
 2310 DEFPROCsetupbb
 2320 reving=FALSE:left=FALSE:right=FALSE:searching=0:idle=TRUE
 2330 near=FALSE:tending=1:steer=0
 2340 ENDPROC
 2350 :
 2360 DEFPROCreleaseb
 2370 REM Got all the balls, now just dump them!
 2380 near=near+1
 2390 IF near>9 THEN idle=TRUE:near=FALSE
 2400 ENDPROC


 � BallBot V4.0
7 � Real-Time Version with Continuous Testing Option
< � New mechanical robot design changes (two motor drive)
( � (C) Dominic Ford 1997
2 :
< � Welcome screen
F� �6:@%=&905:�" BallBot Artificial Intelligence Module"'"Simulation Tester V4.0 Real Time Version"''"Programmed and Designed by Dominic Ford"''�(16);"(C) 1997"
PU �'''"1. Real-Time Simulation"''"2. Logged Continuous Runs"''"3. Do specific run"
Z2 � type$=�:� type$="1" � type$="2" � type$="3"
d :
n � Setup variables
x$ � � �"CLOSE":�:�" at line ";�:�
�& ȡ 1,"StringLib-Soft":*STEREO 1 0
�) ȡ 2,"StringLib-Soft":*STEREO 2 -127
�( ȡ 3,"StringLib-Soft":*STEREO 3 127
�: current=0:�ball(4,1):bbx=640:bby=950:dir=270:�setupbb
�% �12:� type$="1" � ȗ �:�drawfull
�E � type$="2" � start=�:stage=0:idle=�:�"Filename";f$:�"SPOOL "+f$
�g � type$="3" � �"Enter Data:"':�b=0�4:�"Ball ";b+1;:�ball(b,0),ball(b,1):�:type$="1":ȗ �:�drawfull
� :
� � Start main loop
�
 �:T=�
�# � type$="1" � �user � �compmon
� � idle � � �
� �sense
 mov=�ai(freqa,freqb,freqc)
 left=(mov � 1)<>0
 right=(mov � 2)<>0
" turbo=(mov � 4)<>0
, on=(mov � 8)<>0
6 �moveit
@ �0,2)�-T
J � � �>(T+15)
T � �
^ :
h � Graphic interface
r ��drawfull
| � Set up constants
� �sx,sy,width
� sx=1:sy=2:width=10
� � Setup Colours
�V �0,0,64,0:�1,255,0,0:�2,255,255,255:�3,255,0,0:�4,255,255,0:�5,0,0,0:�6,255,255,0
� :
� � Draw green court area
� �:�0,0:ȓ Ȑ 0,0,1279,1023
�& � Mark out white lines onto court
֬ �0,2:ȓ Ȑ sx/(23.77+2*sx)*1280,sy/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width:ȓ Ȑ sx/(23.77+2*sx)*1280,(1.37+sy)/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width
� ȓ Ȑ sx/(23.77+2*sx)*1280,(9.6+sy)/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width:ȓ Ȑ sx/(23.77+2*sx)*1280,(10.97+sy)/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width
�_ ȓ Ȑ (sx+5.47)/(23.77+2*sx)*1280,(sy+5.49)/(10.97+2*sy)*1024,12.8/(23.77+2*sx)*1280,width
� ȓ Ȑ sx/(23.77+2*sx)*1280,sy/(10.97+2*sy)*1024,width,10.97/(10.97+2*sy)*1024:ȓ Ȑ (sx+23.77)/(23.77+2*sx)*1280,sy/(10.97+2*sy)*1024,width,10.97/(10.97+2*sy)*1024+width
�� ȓ Ȑ (sx+5.47)/(23.77+2*sx)*1280,(sy+1.37)/(10.97+2*sy)*1024,width,8.23/(10.97+2*sy)*1024:ȓ Ȑ (sx+18.3)/(23.77+2*sx)*1280,(sy+1.37)/(10.97+2*sy)*1024,width,8.23/(10.97+2*sy)*1024
 :
 � Draw net
� �0,5:�l=100�924�10:� 640,l:� 680,l+50:�:�l=0�40�10:� 640+l,100+l:�640+l,924+l:�:�l=0�5:�637+l,100:�677+l,150:�637+l,924:�677+l,974:�
& �0,2:� 682,142:�682,966
0 �drawmini
: �
D :
N � Draw ballbot and balls
X ��drawmini
b � type$="2" � �
l �3,4:�b=0�4
vB � ball(b,0)<>0 � ball(b,1)<>0 � ȓ Ȑ ball(b,0),ball(b,1),5,5
� �
� �3,3:ȓ Ȑ bbx,bby,5,5
� �
� :
�* � User interface (putting balls down)
� ��user
�
 ȗ x,y,c
� � c=0 � �
�a � (c � 4)<>0 � �drawmini:ball(current,0)=x:ball(current,1)=y:current=(current+1)�5:�drawmini
�* � (c � 2)<>0 � idle=�:stage=0:start=�
� �
�
 ȗ x,y,c
�
 � c=0
 �
 :
' � Calculate ballbot's new position
 
 ��moveit
* � speed
4; � left � (� right) � dir=dir-2.5*(1-3*turbo):speed=0.1
>; � right � (� left) � dir=dir+2.5*(1-3*turbo):speed=0.1
H � left � right � speed=1
R :
\) � Get direction in range 0<theta<360
f � � dir<0 � dir=dir+360
p � dir>=360 � dir=dir-360
z � dir>=0 � dir<360
� :
�= �drawmini:bbx=bbx+15*�(�*dir/180)*speed*(.75*-turbo+.25)
�3 bby=bby+20*�(�*dir/180)*speed*(.75*-turbo+.25)
�Q �ball=0�4:� �(bbx-ball(ball,0))<10 � �(bby-ball(ball,1))<10 � ball(ball,0)=0
� �:�drawmini
� �
� :
�; � Calculate ballbot's background echo reading (-balls)
� ݤback(freq,min,max)
�, � Get angular range in form 0<theta<360
�, � Set up initial outside range settings
�? hit=0:dist=0:dista=9999:hita=0:� LOCAL hit,dist,hita,dista
�8 � If straight at net is in range, will be shortest.
w �(bbx<640�min<=90�max>=90)�(bbx>640�min<=270�max>=270) � (bby>100 � bby<923) � hit=bby:dist=�(bbx-640):min=0:max=0
/ � Otherwise find shortest extreme of range
S � �(�*min/180)<>0 � dist=(640-bbx)/�(�*min/180):hit=bby+(640-bbx)/�(�*min/180)
$U � �(�*max/180)<>0 � dista=(640-bbx)/�(�*max/180):hita=bby+(640-bbx)/�(�*max/180)
., � Just check if post in middle of range
8d � bbx<640 � hit>100 � (hita<100 � dista<0) � dist>0 � hita=100:dista=�((bbx-640)^2+(bby-100)^2)
Bb � bbx<640 � hita<923 � (hit>923 � dist<0) � dista>0 � hit=923:dist=�((bbx-640)^2+(bby-923)^2)
Lb � bbx>640 � hita>100 � (hit<100 � dist<0) � dista>0 � hit=100:dist=�((bbx-640)^2+(bby-100)^2)
Vd � bbx>640 � hit<923 � (hita>923 � dista<0) � dist>0 � hita=923:dista=�((bbx-640)^2+(bby-923)^2)
` � Pick best to send off!
jH � dist<0 � (dista<dist � hita>100 � hita<923) � dist=dista:hit=hita
t; � hit>923 � hit<100 � dist<0 � ftype$="U":=freq+�(6)-3
~+ � hit>900 � hit<123 � ftype$="P":=dist
� ftype$="N"
�
 =dist
� :
�2 � Calculate Ballbot's readings (MAIN ROUTINE)
� :
� ��sense
�* � Get background readings from FNback
� freq=�(250)+1500
�/ freqa=�back(freq,dir-15,dir+15):fa$=ftype$
�/ freqb=�back(freq,dir-45,dir-15):fb$=ftype$
�/ freqc=�back(freq,dir+15,dir+45):fc$=ftype$
� :
D � Add any relevant balls to readings (using hairy trigonometry)

 :
 �ball=0�4
4 d%=�((ball(ball,0)-bbx)^2+(ball(ball,1)-bby)^2)
( � ball(ball,0)=0 � d%=9999
2E a=�angle(ball(ball,0),ball(ball,1),bbx,bby)-dir:�a>180 � a=a-360
<, � �(a)<15 � freqa>d% � freqa=d%:fa$="B"
F3 � a>-46 � a<=-15 � freqb>d% � freqb=d%:fb$="B"
P1 � a>=15 � a<46 � freqc>d% � freqc=d%:fc$="B"
Z �
d :
n � Update user displays
x :
� � type$="2" � �
�: �0,0)�((�-start)/6000);":";(�((�-start)/100)�60);" "
�: �0,31)fb$,fa$,fc$,stage,�(searching),left,right,dir;
�7 � 1,-1,freqa/4,5:� 2,-1,freqb/4,5:� 3,-1,freqc/4,5
� �
�:
�$ � Calculate bearing of B from A
� ݤangle(x1,y1,x2,y2)
�4 � y2=y1 � ang=90 � ang=180*�((x2-x1)/(y2-y1))/�
� � (y2>y1) � ang=ang+180
� � ang<0 � ang=ang+360
� =ang � 360
� :
- � Computer Monitor of BallBot's progress
 ��compmon
r � idle � (ball(0,0)<>0 � ball(1,0)<>0 � ball(2,0)<>0 � ball(3,0)<>0 � ball(4,0)<>0) � st$="Fail" � st$="Pass"
"> � idle � �st$,�((�-start)/6000);":";(�((�-start)/100)�60)
,, � �>start+36000 � idle=�:�"Time","****"
6< �bbx>630�bbx<650�bby>100�bby<923�idle=�:�"Crash","****"
@k � idle � bbx=640:bby=950:dir=270:stage=0:�setupbb:start=�:�b=0�4:ball(b,0)=�(1280):ball(b,1)=�(1024):�
J� � idle � �"[";ball(0,0);",";ball(0,1);"] [";ball(1,0);",";ball(1,1);"] [";ball(2,0);",";ball(2,1);"] [";ball(3,0);",";ball(3,1);"] [";ball(4,0);",";ball(4,1);"]",;:idle=�
T �
^ :
h* � BALLBOT ROBOTIC INTELLIGENCE MODULE
r :
| ݤai(freqa,freqb,freqc)
�9 � Artificial intelligence routines (ie. What Next??)
� �left,right,turbo
� left=�:right=�:turbo=�
� :
�@ � What stage are we in? Hunt for balls or move to new area?
�' � near<>0 � stage<8 � �donearstuff
�+ � near=0 � (stage=0 � stage=2) � �hunt
�. � near=0 � (stage=1 � stage=3) � �moveout
� � stage=4 � �releaseb
� :
�2 � Prepare output into binary for transmission
�  feed=0:� left � feed=feed+1
� � right � feed=feed+2
 � turbo � feed=feed+4
 � idle � feed=feed+8

 =feed
& :
0( � Perform a sweep to find any balls
: ��hunt
D# � Watch out if too near to net
Nd �IF(freqa<20AND fa$<>"B")OR(freqb<20AND fb$<>"B")OR(freqc<20AND fc$<>"B")ANDfa$="B"THEN:ENDPROC
X :
b � Rotate to face ball
l$ � Where search after this ball?
v( � (fb$="B" � freqb>150) � tending=0
�& � fc$="B" � freqc>150 � tending=1
� � Pick best ball to aim at
�Z dist=freqa*0.75:� dist>freqb � fb$="B" � (freqb<freqc � fc$<>"B") � steer=-1:left=�:�
�/ � dist>freqc � fc$="B" � steer=1:right=�:�
�b � fa$="B" � left=(steer<>1):right=(steer<>-1):steer=0:searching=searching/2:turbo=freqa>100:�
�" � fb$="B" � steer=-1:left=�:�
�" � fc$="B" � steer=1:right=�:�
� :
�0 � If no ball in sight, continue rotation...
�6 searching=searching+1:turbo=(searching>5):steer=0
�* � (tending � 1)<>0 � right=� � left=�
�* � searching=5 � tending=(tending � 1)
�# � searching>50 � stage=stage+1
 �
 :
< � Find edge of net and aim for it to move to other side
  ��moveout
*# � Watch out if too near to net
4v � (freqa<30 � freqb<30 � freqc<30) � (reving>0 � (freqa<250 � freqb<250 � freqc<250)) � reving=5:right=�:left=�:�
>: � reving>0 � turbo=�:left=�:right=�:reving=reving-1:�
H, � Align ballbot to face the net post...
R$ � fa$="N" � fa$="P" � right=�:�
\- � fb$<>"N" � fb$<>"P" � left=�:steer=6:�
f; � fb$="P" � freqb<100 � fa$<>"P" � fa$<>"N" � near=1:�
p' � steer>0 � steer=steer-1:left=�:�
z turbo=�:left=�:right=�
� �
� :
�G � Nearly there... Just need a little nudge in the right direction.
� ��donearstuff
�# � Watch out if too near to net
�2 � near<6 � right=�:left=�:near=near-(fa$="U")
�5 � near<10 � left=�:turbo=�:right=�:near=near+1:�
�5 � near<15 � left=�:turbo=�:right=�:near=near+1:�
�' left=�:turbo=�:right=�:near=near+1
�; � near>18 � near=0:stage=stage+1:searching=0:tending=1
� �
� :
�= � Initialise BallBot variables at the beginning of a run
	 ��setupbb
	/ reving=�:left=�:right=�:searching=0:idle=�
	 near=�:tending=1:steer=0
	$ �
	. :
	8 ��releaseb
	B- � Got all the balls, now just dump them!
	L near=near+1
	V � near>9 � idle=�:near=�
	` �
�
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00000090  20 44 6f 6d 69 6e 69 63  20 46 6f 72 64 20 31 39  | Dominic Ford 19|
000000a0  39 37 0d 00 32 06 20 3a  0d 00 3c 15 20 f4 20 57  |97..2. :..<. . W|
000000b0  65 6c 63 6f 6d 65 20 73  63 72 65 65 6e 0d 00 46  |elcome screen..F|
000000c0  a2 20 eb 36 3a 40 25 3d  26 39 30 35 3a f1 22 20  |. .6:@%=&905:." |
000000d0  42 61 6c 6c 42 6f 74 20  41 72 74 69 66 69 63 69  |BallBot Artifici|
000000e0  61 6c 20 49 6e 74 65 6c  6c 69 67 65 6e 63 65 20  |al Intelligence |
000000f0  4d 6f 64 75 6c 65 22 27  22 53 69 6d 75 6c 61 74  |Module"'"Simulat|
00000100  69 6f 6e 20 54 65 73 74  65 72 20 56 34 2e 30 20  |ion Tester V4.0 |
00000110  52 65 61 6c 20 54 69 6d  65 20 56 65 72 73 69 6f  |Real Time Versio|
00000120  6e 22 27 27 22 50 72 6f  67 72 61 6d 6d 65 64 20  |n"''"Programmed |
00000130  61 6e 64 20 44 65 73 69  67 6e 65 64 20 62 79 20  |and Designed by |
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00000150  28 31 36 29 3b 22 28 43  29 20 31 39 39 37 22 0d  |(16);"(C) 1997".|
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000001a0  22 33 2e 20 44 6f 20 73  70 65 63 69 66 69 63 20  |"3. Do specific |
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00000750  ea 5f 20 c8 93 20 c8 90  20 28 73 78 2b 35 2e 34  |._ .. .. (sx+5.4|
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00002440  09 60 06 20 e1 0d ff                              |.`. ...|
00002447

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