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BioBot/BBMotor3

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 ADFS disks » Archimedes » Files.ADF
Filename: BioBot/BBMotor3
Read OK: ✔
File size: 2621 bytes
Load address: FFFFFB45
Exec address: 70FD124F
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$="1" THEN PROCuser ELSE PROCcompmon
  240 IF idle THEN UNTIL FALSE
  250 PROCsense
  260 mov=FNai(freqa,freqb,freqc,freqd)
  270 left=(mov AND 1)<>0
  280 right=(mov AND 2)<>0
  290 turbo=(mov AND 4)<>0
  300 on=(mov AND 8)<>0
  310 reverse=(mov AND 16)<>0
  320 PROCmoveit
  330 IF type$="1" THEN PRINTTAB(0,2)TIME-T
  340 REPEAT UNTIL TIME>(T+15)
  350 UNTIL FALSE
  360 :
  370 REM Graphic interface
  380 DEFPROCdrawfull
  390 REM Set up constants
  400 LOCALsx,sy,width
  410 sx=1:sy=2:width=10
  420 REM Setup Colours
  430 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
  440 :
  450 REM Draw green court area
  460 CLS:GCOL0,0:RECTANGLE FILL 0,0,1279,1023
  470 REM Mark out white lines onto court
  480 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
  490 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
  500 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
  510 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
  520 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
  530 :
  540 REM Draw net
  550 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
  560 GCOL0,2:MOVE 682,142:DRAW682,966
  570 PROCdrawmini
  580 ENDPROC
  590 :
  600 REM Draw ballbot and balls
  610 DEFPROCdrawmini
  620 IF type$="2" THEN ENDPROC
  630 GCOL3,4:FORb=0TO4
  640 IF ball(b,0)<>0 OR ball(b,1)<>0 THEN RECTANGLE FILL ball(b,0),ball(b,1),5,5
  650 NEXT
  660 GCOL3,3:RECTANGLE FILL bbx,bby,5,5
  670 ENDPROC
  680 :
  690 REM User interface (putting balls down)
  700 DEFPROCuser
  710 MOUSE x,y,c
  720 IF c=0 THEN ENDPROC
  730 IF (c AND 4)<>0 THEN PROCdrawmini:ball(current,0)=x:ball(current,1)=y:current=(current+1)MOD5:PROCdrawmini
  740 IF (c AND 2)<>0 THEN idle=FALSE:stage=0:start=TIME
  750 REPEAT
  760 MOUSE x,y,c
  770 UNTIL c=0
  780 ENDPROC
  790 :
  800 REM Calculate ballbot's new position
  810 DEFPROCmoveit
  820 LOCAL speed
  830 IF NOT on THEN ENDPROC
  840 IF ((NOT reverse) AND left AND (NOT right)) OR (reverse AND right AND (NOT left)) THEN dir=dir-2.5*(1-3*turbo):speed=0.1+0.2*reverse
  850 IF ((NOT reverse) AND right AND (NOT left)) OR (reverse AND left AND (NOT right)) THEN dir=dir+2.5*(1-3*turbo):speed=0.1+0.2*reverse
  860 IF left AND right THEN speed=1+2*reverse
  870 :
  880 REM Get direction in range 0<theta<360
  890 REPEAT IF dir<0 THEN dir=dir+360
  900 IF dir>=360 THEN dir=dir-360
  910 UNTIL dir>=0 AND dir<360
  920 :
  930 PROCdrawmini:bbx=bbx+15*SIN(PI*dir/180)*speed*(.75*-turbo+.25)
  940 bby=bby+20*COS(PI*dir/180)*speed*(.75*-turbo+.25)
  950 FORball=0TO4:IF ABS(bbx-ball(ball,0))<10 AND ABS(bby-ball(ball,1))<10 THEN ball(ball,0)=0
  960 NEXT:PROCdrawmini
  970 ENDPROC
  980 :
  990 REM Calculate ballbot's background echo reading (-balls)
 1000 DEFFNback(freq,min,max)
 1010 REM Get angular range in form 0<theta<360
 1020 REM Set up initial outside range settings
 1030 hit=0:dist=9999:dista=9999:hita=0:REM LOCAL hit,dist,hita,dista
 1040 REM If straight at net is in range, will be shortest.
 1050 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
 1060 REM Otherwise find shortest extreme of range
 1070 IF SIN(PI*min/180)<>0 THEN dist=(640-bbx)/SIN(PI*min/180):hit=bby+(640-bbx)/TAN(PI*min/180)
 1080 IF SIN(PI*max/180)<>0 THEN dista=(640-bbx)/SIN(PI*max/180):hita=bby+(640-bbx)/TAN(PI*max/180)
 1090 REM Just check if post in middle of range
 1100 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)
 1110 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)
 1120 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)
 1130 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)
 1140 REM Pick best to send off!
 1150 IF dist<0 OR (dista<dist AND hita>100 AND hita<923) THEN dist=dista:hit=hita
 1160 IF hit>923 OR hit<100 OR dist<0 THEN ftype$="U":=freq+RND(6)-3
 1170 IF hit>900 OR hit<123 THEN ftype$="P":=dist
 1180 ftype$="N"
 1190 =dist
 1200 :
 1210 REM Calculate Ballbot's readings (MAIN ROUTINE)
 1220 :
 1230 DEFPROCsense
 1240 REM Get background readings from FNback
 1250 freq=RND(250)+1500
 1260 freqa=FNback(freq,dir-15,dir+15):fa$=ftype$
 1270 freqb=FNback(freq,dir-45,dir-15):fb$=ftype$
 1280 freqc=FNback(freq,dir+15,dir+45):fc$=ftype$
 1290 freqd=FNback(freq,dir-75,dir-45):fd$=ftype$
 1300 :
 1310 REM Add any relevant balls to readings (using hairy trigonometry)
 1320 :
 1330 FORball=0TO4
 1340 d%=SQR((ball(ball,0)-bbx)^2+(ball(ball,1)-bby)^2)
 1350 IF ball(ball,0)=0 THEN d%=9999
 1360 a=FNangle(ball(ball,0),ball(ball,1),bbx,bby)-dir
 1370 IFa>180 THEN a=a-360
 1380 IFa<=-179 THEN a=a+360
 1390 IF ABS(a)<15 AND freqa>d% THEN freqa=d%:fa$="B"
 1400 IF a>-46 AND a<=-15 AND freqb>d% THEN freqb=d%:fb$="B"
 1410 IF a>=15 AND a<46 AND freqc>d% THEN freqc=d%:fc$="B"
 1420 IF a>-75 AND a<=-46 AND freqd>d% THEN freqd=d%:fd$="B"
 1430 NEXT
 1440 :
 1450 REM Update user displays
 1460 :
 1470 IF type$="2" THEN ENDPROC
 1480 PRINTTAB(0,0)INT((TIME-start)/6000);":";(INT((TIME-start)/100)MOD60);" "
 1490 PRINTTAB(0,31)fd$,fb$,fa$,fc$,stage,INT(searching),left,right," ",dir," ",near;
 1500 SOUND 1,-1,freqa/4,5:SOUND 2,-1,freqb/4,5:SOUND 3,-1,freqc/4,5
 1510 ENDPROC
 1520:
 1530 REM Calculate bearing of B from A
 1540 DEFFNangle(x1,y1,x2,y2)
 1550 IF y2=y1 THEN ang=90 ELSE ang=180*ATN((x2-x1)/(y2-y1))/PI
 1560 IF (y2>y1) THEN ang=ang+180
 1570 IF ang<0 THEN ang=ang+360
 1580 =ang MOD 360
 1590 :
 1600 REM Computer Monitor of BallBot's progress
 1610 DEFPROCcompmon
 1620 IF idle AND (ball(0,0)<>0 OR ball(1,0)<>0 OR ball(2,0)<>0 OR ball(3,0)<>0 OR ball(4,0)<>0) THEN st$="Fail" ELSE st$="Pass"
 1630 IF idle THEN PRINTst$,INT((TIME-start)/6000);":";(INT((TIME-start)/100)MOD60)
 1640 IF TIME>start+36000 THEN idle=TRUE:PRINT"Time","****"
 1650 IFbbx>635ANDbbx<645ANDbby>105ANDbby<920THENidle=TRUE:PRINT"Crash","****"
 1660 IF idle THEN bbx=640:bby=950:dir=270:stage=0:PROCsetupbb:start=TIME:FORb=0TO4:ball(b,0)=RND(1180):ball(b,1)=RND(1024):ball(b,0)=ball(b,0)-100*((ball(b,0) DIV 100)=6):NEXT
 1670 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
 1680 ENDPROC
 1690 :
 1700 REM BALLBOT ROBOTIC INTELLIGENCE MODULE
 1710 :
 1720 DEFFNai(freqa,freqb,freqc,freqd)
 1730 REM Artificial intelligence routines (ie. What Next??)
 1740 LOCALleft,right,turbo,reverse
 1750 left=FALSE:right=FALSE:turbo=FALSE:reverse=FALSE
 1760 :
 1770 REM What stage are we in? Hunt for balls or move to new area?
 1780 IF near<>0 AND stage<4 THEN PROCdonearstuff
 1790 IF near=0 AND (stage=0 OR stage=2) THEN PROChunt
 1800 IF near=0 AND (stage=1 OR stage=3) THEN PROCmoveout
 1810 IF stage=4 THEN PROCreleaseb
 1820 :
 1830 REM Prepare output into binary for transmission
 1840 feed=0:IF left THEN feed=feed+1
 1850 IF right THEN feed=feed+2
 1860 IF turbo THEN feed=feed+4
 1870 IF NOT idle THEN feed=feed+8
 1880 IF reverse THEN feed=feed+16
 1890 =feed
 1900 :
 1910 REM Perform a sweep to find any balls
 1920 DEFPROChunt
 1930 REM Watch out if too near to net
 1940 IF (fa$<>"B" AND freqa<30)OR(fb$<>"B" AND freqb<10)OR(fc$<>"B" AND freqc<10) THEN reving=5:turbo=TRUE:reverse=TRUE:right=TRUE:left=TRUE:ENDPROC
 1950 IF reving>0 AND (freqa<150 OR freqb<150 OR freqc<150) THEN reving=reving-1:turbo=TRUE:reverse=TRUE:right=FALSE:left=TRUE:ENDPROC
 1960 reving=0
 1970 :
 1980 REM Rotate to face ball
 1990 REM Where search after this ball?
 2000 IF (fb$="B" AND freqb>150) THEN tending=0
 2010 IF fc$="B" AND freqc>150 THEN tending=1
 2020 REM Pick best ball to aim at
 2030 dist=freqa*0.75:IF dist>freqb AND fb$="B" AND (freqb<freqc OR fc$<>"B") THEN steer=-1:left=TRUE:ENDPROC
 2040 IF dist>freqc AND fc$="B" THEN steer=1:right=TRUE:ENDPROC
 2050 IF fa$="B" THEN left=(steer<>1):right=(steer<>-1):steer=0:searching=searching/2:turbo=freqa>100:ENDPROC
 2060 IF fb$="B" THEN steer=-1:left=TRUE:ENDPROC
 2070 IF fc$="B" THEN steer=1:right=TRUE:ENDPROC
 2080 :
 2090 REM If no ball in sight, continue rotation...
 2100 searching=searching+1:turbo=(searching>5):steer=0
 2110 IF (tending AND 1)<>0 THEN right=TRUE ELSE left=TRUE
 2120 IF searching=5 THEN tending=(tending EOR 1)
 2130 IF searching>50 THEN stage=stage+1
 2140 ENDPROC
 2150 :
 2160 REM Find edge of net and aim for it to move to other side
 2170 DEFPROCmoveout
 2180 REM Watch out if too near to net
 2190 IF (freqa<30 OR freqb<30 OR freqc<30) OR (reving AND (freqa<75 OR freqb<75 OR freqc<75)) THEN reving=TRUE:reverse=TRUE:right=TRUE:left=TRUE:ENDPROC
 2200 reving=FALSE
 2210 REM If ball in sight, go get it!
 2220 IF fa$="B" OR fb$="B" OR fc$="B" THEN stage=stage-1:searching=44:ENDPROC
 2230 REM Align ballbot to face the net post...
 2240 IF fa$="N" OR fa$="P" THEN right=TRUE:ENDPROC
 2250 IF fb$<>"N" AND fb$<>"P" THEN left=TRUE:ENDPROC
 2260 IF fb$="P" AND freqb<150 THEN right=TRUE:near=1:ENDPROC
 2270 turbo=TRUE:left=TRUE:right=TRUE
 2280 ENDPROC
 2290 :
 2300 REM Nearly there... Just need a little nudge in the right direction.
 2310 DEFPROCdonearstuff
 2320 IF freqa<30 AND fa$<>"B" THEN right=TRUE:ENDPROC
 2330 IF near=1 AND fd$<>"U" THEN left=TRUE:right=TRUE:ENDPROC
 2340 near=near+1:left=TRUE:right=(near MOD 2)=1:turbo=TRUE
 2350 IF near>18 THEN near=0:stage=stage+1:searching=0:tending=1
 2360 ENDPROC
 2370 :
 2380 REM Initialise BallBot variables at the beginning of a run
 2390 DEFPROCsetupbb
 2400 reving=FALSE:left=FALSE:right=FALSE:searching=0:idle=TRUE
 2410 near=FALSE:tending=1:steer=0
 2420 ENDPROC
 2430 :
 2440 DEFPROCreleaseb
 2450 REM Got all the balls, now just dump them!
 2460 near=near+1
 2470 IF near>9 THEN idle=TRUE:near=FALSE
 2480 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$="1" � �user � �compmon
� � idle � � �
� �sense
% mov=�ai(freqa,freqb,freqc,freqd)
 left=(mov � 1)<>0
 right=(mov � 2)<>0
" turbo=(mov � 4)<>0
, on=(mov � 8)<>0
6 reverse=(mov � 16)<>0
@ �moveit
J � type$="1" � �0,2)�-T
T � � �>(T+15)
^ � �
h :
r � Graphic interface
| ��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 �0,2:� 682,142:�682,966
: �drawmini
D �
N :
X � Draw ballbot and balls
b ��drawmini
l � type$="2" � �
v �3,4:�b=0�4
�B � 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
4 � speed
> � � on � �
Hv � ((� reverse) � left � (� right)) � (reverse � right � (� left)) � dir=dir-2.5*(1-3*turbo):speed=0.1+0.2*reverse
Rv � ((� reverse) � right � (� left)) � (reverse � left � (� right)) � dir=dir+2.5*(1-3*turbo):speed=0.1+0.2*reverse
\' � left � right � speed=1+2*reverse
f :
p) � Get direction in range 0<theta<360
z � � dir<0 � dir=dir+360
� � dir>=360 � dir=dir-360
� � 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
B hit=0:dist=9999:dista=9999:hita=0:� LOCAL hit,dist,hita,dista
8 � If straight at net is in range, will be shortest.
y �((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
$/ � Otherwise find shortest extreme of range
.S � �(�*min/180)<>0 � dist=(640-bbx)/�(�*min/180):hit=bby+(640-bbx)/�(�*min/180)
8U � �(�*max/180)<>0 � dista=(640-bbx)/�(�*max/180):hita=bby+(640-bbx)/�(�*max/180)
B, � Just check if post in middle of range
Ld � bbx<640 � hit>100 � (hita<100 � dista<0) � dist>0 � hita=100:dista=�((bbx-640)^2+(bby-100)^2)
Vb � bbx<640 � hita<923 � (hit>923 � dist<0) � dista>0 � hit=923:dist=�((bbx-640)^2+(bby-923)^2)
`b � bbx>640 � hita>100 � (hit<100 � dist<0) � dista>0 � hit=100:dist=�((bbx-640)^2+(bby-100)^2)
jd � bbx>640 � hit<923 � (hita>923 � dista<0) � dist>0 � hita=923:dista=�((bbx-640)^2+(bby-923)^2)
t � Pick best to send off!
~H � dist<0 � (dista<dist � hita>100 � hita<923) � dist=dista:hit=hita
�; � hit>923 � hit<100 � dist<0 � ftype$="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$=ftype$

/ freqd=�back(freq,dir-75,dir-45):fd$=ftype$
 :
D � Add any relevant balls to readings (using hairy trigonometry)
( :
2 �ball=0�4
<4 d%=�((ball(ball,0)-bbx)^2+(ball(ball,1)-bby)^2)
F � ball(ball,0)=0 � d%=9999
P4 a=�angle(ball(ball,0),ball(ball,1),bbx,bby)-dir
Z �a>180 � a=a-360
d �a<=-179 � a=a+360
n, � �(a)<15 � freqa>d% � freqa=d%:fa$="B"
x3 � a>-46 � a<=-15 � freqb>d% � freqb=d%:fb$="B"
�1 � a>=15 � a<46 � freqc>d% � freqc=d%:fc$="B"
�3 � a>-75 � a<=-46 � freqd>d% � freqd=d%:fd$="B"
� �
� :
� � Update user displays
� :
� � type$="2" � �
�: �0,0)�((�-start)/6000);":";(�((�-start)/100)�60);" "
�K �0,31)fd$,fb$,fa$,fc$,stage,�(searching),left,right," ",dir," ",near;
�7 � 1,-1,freqa/4,5:� 2,-1,freqb/4,5:� 3,-1,freqc/4,5
� �
�:
�$ � 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
6 :
@- � Computer Monitor of BallBot's progress
J ��compmon
Tr � 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$,�((�-start)/6000);":";(�((�-start)/100)�60)
h, � �>start+36000 � idle=�:�"Time","****"
r< �bbx>635�bbx<645�bby>105�bby<920�idle=�:�"Crash","****"
|� � idle � bbx=640:bby=950:dir=270:stage=0:�setupbb:start=�:�b=0�4:ball(b,0)=�(1180):ball(b,1)=�(1024):ball(b,0)=ball(b,0)-100*((ball(b,0) � 100)=6):�
�� � idle � �"[";ball(0,0);",";ball(0,1);"] [";ball(1,0);",";ball(1,1);"] [";ball(2,0);",";ball(2,1);"] [";ball(3,0);",";ball(3,1);"] [";ball(4,0);",";ball(4,1);"]",;:idle=�
� �
� :
�* � BALLBOT ROBOTIC INTELLIGENCE MODULE
� :
�" ݤai(freqa,freqb,freqc,freqd)
�9 � Artificial intelligence routines (ie. What Next??)
� �left,right,turbo,reverse
�% left=�:right=�:turbo=�:reverse=�
� :
�@ � What stage are we in? Hunt for balls or move to new area?
�' � near<>0 � stage<4 � �donearstuff
�+ � near=0 � (stage=0 � stage=2) � �hunt
. � near=0 � (stage=1 � stage=3) � �moveout
 � stage=4 � �releaseb
 :
&2 � Prepare output into binary for transmission
0  feed=0:� left � feed=feed+1
: � right � feed=feed+2
D � turbo � feed=feed+4
N � � idle � feed=feed+8
X � reverse � feed=feed+16
b
 =feed
l :
v( � Perform a sweep to find any balls
� ��hunt
�# � Watch out if too near to net
�v � (fa$<>"B" � freqa<30)�(fb$<>"B" � freqb<10)�(fc$<>"B" � freqc<10) � reving=5:turbo=�:reverse=�:right=�:left=�:�
�j � reving>0 � (freqa<150 � freqb<150 � freqc<150) � reving=reving-1:turbo=�:reverse=�:right=�:left=�:�
�
 reving=0
� :
� � Rotate to face ball
�$ � Where search after this ball?
�( � (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...
46 searching=searching+1:turbo=(searching>5):steer=0
>* � (tending � 1)<>0 � right=� � left=�
H* � searching=5 � tending=(tending � 1)
R# � searching>50 � stage=stage+1
\ �
f :
p< � Find edge of net and aim for it to move to other side
z ��moveout
�# � Watch out if too near to net
�{ � (freqa<30 � freqb<30 � freqc<30) � (reving � (freqa<75 � freqb<75 � freqc<75)) � reving=�:reverse=�:right=�:left=�:�
�
 reving=�
�# � If ball in sight, go get it!
�A � fa$="B" � fb$="B" � fc$="B" � stage=stage-1:searching=44:�
�, � Align ballbot to face the net post...
�$ � fa$="N" � fa$="P" � right=�:�
�% � fb$<>"N" � fb$<>"P" � left=�:�
�- � fb$="P" � freqb<150 � right=�:near=1:�
� turbo=�:left=�:right=�
� �
� :
�G � Nearly there... Just need a little nudge in the right direction.
	 ��donearstuff
	& � freqa<30 � fa$<>"B" � right=�:�
	+ � near=1 � fd$<>"U" � left=�:right=�:�
	$2 near=near+1:left=�:right=(near � 2)=1:turbo=�
	.; � near>18 � near=0:stage=stage+1:searching=0:tending=1
	8 �
	B :
	L= � Initialise BallBot variables at the beginning of a run
	V ��setupbb
	`/ reving=�:left=�:right=�:searching=0:idle=�
	j near=�:tending=1:steer=0
	t �
	~ :
	� ��releaseb
	�- � Got all the balls, now just dump them!
	� near=near+1
	� � near>9 � idle=�:near=�
	� �
�
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00000010  34 2e 30 0d 00 14 37 20  f4 20 52 65 61 6c 2d 54  |4.0...7 . Real-T|
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00000050  20 4e 65 77 20 6d 65 63  68 61 6e 69 63 61 6c 20  | New mechanical |
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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|
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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|
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00000780  20 c8 93 20 c8 90 20 28  73 78 2b 35 2e 34 37 29  | .. .. (sx+5.47)|
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000023c0  31 3a e1 0d 08 de 1b 20  74 75 72 62 6f 3d b9 3a  |1:..... turbo=.:|
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000023f0  20 4e 65 61 72 6c 79 20  74 68 65 72 65 2e 2e 2e  | Nearly there...|
00002400  20 4a 75 73 74 20 6e 65  65 64 20 61 20 6c 69 74  | Just need a lit|
00002410  74 6c 65 20 6e 75 64 67  65 20 69 6e 20 74 68 65  |tle nudge in the|
00002420  20 72 69 67 68 74 20 64  69 72 65 63 74 69 6f 6e  | right direction|
00002430  2e 0d 09 06 12 20 dd f2  64 6f 6e 65 61 72 73 74  |..... ..donearst|
00002440  75 66 66 0d 09 10 26 20  e7 20 66 72 65 71 61 3c  |uff...& . freqa<|
00002450  33 30 20 80 20 66 61 24  3c 3e 22 42 22 20 8c 20  |30 . fa$<>"B" . |
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00002500  31 0d 09 38 06 20 e1 0d  09 42 06 20 3a 0d 09 4c  |1..8. ...B. :..L|
00002510  3d 20 f4 20 49 6e 69 74  69 61 6c 69 73 65 20 42  |= . Initialise B|
00002520  61 6c 6c 42 6f 74 20 76  61 72 69 61 62 6c 65 73  |allBot variables|
00002530  20 61 74 20 74 68 65 20  62 65 67 69 6e 6e 69 6e  | at the beginnin|
00002540  67 20 6f 66 20 61 20 72  75 6e 0d 09 56 0e 20 dd  |g of a run..V. .|
00002550  f2 73 65 74 75 70 62 62  0d 09 60 2f 20 72 65 76  |.setupbb..`/ rev|
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00002570  68 74 3d a3 3a 73 65 61  72 63 68 69 6e 67 3d 30  |ht=.:searching=0|
00002580  3a 69 64 6c 65 3d b9 0d  09 6a 1d 20 6e 65 61 72  |:idle=...j. near|
00002590  3d a3 3a 74 65 6e 64 69  6e 67 3d 31 3a 73 74 65  |=.:tending=1:ste|
000025a0  65 72 3d 30 0d 09 74 06  20 e1 0d 09 7e 06 20 3a  |er=0..t. ...~. :|
000025b0  0d 09 88 0f 20 dd f2 72  65 6c 65 61 73 65 62 0d  |.... ..releaseb.|
000025c0  09 92 2d 20 f4 20 47 6f  74 20 61 6c 6c 20 74 68  |..- . Got all th|
000025d0  65 20 62 61 6c 6c 73 2c  20 6e 6f 77 20 6a 75 73  |e balls, now jus|
000025e0  74 20 64 75 6d 70 20 74  68 65 6d 21 0d 09 9c 10  |t dump them!....|
000025f0  20 6e 65 61 72 3d 6e 65  61 72 2b 31 0d 09 a6 1d  | near=near+1....|
00002600  20 e7 20 6e 65 61 72 3e  39 20 8c 20 69 64 6c 65  | . near>9 . idle|
00002610  3d b9 3a 6e 65 61 72 3d  a3 0d 09 b0 06 20 e1 0d  |=.:near=..... ..|
00002620  ff                                                |.|
00002621
BioBot/BBMotor3.m0
BioBot/BBMotor3.m1
BioBot/BBMotor3.m2
BioBot/BBMotor3.m4
BioBot/BBMotor3.m5

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