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BioBot/BBNew

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 » Greaseweazled » adfs_Dominic_4.adf
Filename: BioBot/BBNew
Read OK: ✔
File size: 2582 bytes
Load address: FFFFFB42
Exec address: D33F43F3
Duplicates

There are 5 duplicate copies of this file in the archive:

File contents
   10 REM BallBot V3.0
   20 REM Real-Time Version with Continuous Testing Option
   30 REM (C) Dominic Ford 1997
   40 :
   50 REM Welcome screen
   60 MODE6:@%=&905:PRINT" BallBot Artificial Intelligence Module"'"Simulation Tester V3.0 Real Time Version"''"Programmed and Designed by Dominic Ford"''SPC(16);"(C) 1997"
   70 PRINT'''"1. Real-Time Simulation"''"2. Logged Continuous Runs"''"3. Do specific run"
   80 REPEAT type$=GET$:UNTIL type$="1" OR type$="2" OR type$="3"
   90 :
  100 REM Setup variables
  105 ON ERROR OSCLI"CLOSE":REPORT:PRINT" at line ";ERL:END
  110 VOICE 1,"StringLib-Soft":*STEREO 1 0
  120 VOICE 2,"StringLib-Soft":*STEREO 2 -127
  130 VOICE 3,"StringLib-Soft":*STEREO 3 127
  140 current=0:DIMball(4,1):bbx=640:bby=950:dir=270:PROCsetupbb
  150 MODE15:IF type$="1" THEN MOUSE ON:PROCdrawfull
  155 IF type$="2" THEN start=TIME:stage=0:idle=FALSE:INPUT"Filename";f$:OSCLI"SPOOL "+f$
  157 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
  160 :
  170 REM Start main loop
  180 REPEAT:T=TIME
  190 IF type$="1" THEN PROCuser ELSE PROCcompmon
  200 IF idle THEN UNTIL FALSE
  210 PROCsense
  220 mov=FNai(freqa,freqb,freqc)
  230 fwd=(mov AND 1)<>0
  240 reverse=(mov AND 2)<>0
  250 left=(mov AND 4)<>0
  260 right=(mov AND 8)<>0
  270 turbo=(mov AND 16)<>0
  280 open=(mov AND 32)<>0
  290 PROCmoveit
  300 REPEAT UNTIL TIME>(T+30)
  310 UNTIL FALSE
  320 :
  330 REM Graphic interface
  340 DEFPROCdrawfull
  350 REM Set up constants
  360 LOCALsx,sy,width
  370 sx=1:sy=2:width=10
  380 REM Draw green court area
  390 CLS:GCOL0,%000100:RECTANGLE FILL 0,0,1279,1023
  400 REM Mark out white lines onto court
  410 GCOL0,%111111:RECTANGLE FILL sx/(23.77+2*sx)*1280,sy/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width:RECTANGLE FILL sx/(23.77+2*sx)*1280,(1.37+sy)/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width
  420 RECTANGLE FILL sx/(23.77+2*sx)*1280,(9.6+sy)/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width:RECTANGLE FILL sx/(23.77+2*sx)*1280,(10.97+sy)/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width
  430 RECTANGLE FILL (sx+5.47)/(23.77+2*sx)*1280,(sy+5.49)/(10.97+2*sy)*1024,12.8/(23.77+2*sx)*1280,width
  440 RECTANGLE FILL sx/(23.77+2*sx)*1280,sy/(10.97+2*sy)*1024,width,10.97/(10.97+2*sy)*1024:RECTANGLE FILL (sx+23.77)/(23.77+2*sx)*1280,sy/(10.97+2*sy)*1024,width,10.97/(10.97+2*sy)*1024+width
  450 RECTANGLE FILL (sx+5.47)/(23.77+2*sx)*1280,(sy+1.37)/(10.97+2*sy)*1024,width,8.23/(10.97+2*sy)*1024:RECTANGLE FILL (sx+18.3)/(23.77+2*sx)*1280,(sy+1.37)/(10.97+2*sy)*1024,width,8.23/(10.97+2*sy)*1024
  460 :
  470 REM Draw net
  480 GCOL0,0:FORl=100TO924STEP10:MOVE 640,l:DRAW 680,l+50:NEXT:FORl=0TO40STEP10:MOVE 640+l,100+l:DRAW640+l,924+l:NEXT:FORl=0TO5:MOVE637+l,100:DRAW677+l,150:MOVE637+l,924:DRAW677+l,974:NEXT
  490 GCOL0,%111111:MOVE 682,142:DRAW682,966
  500 PROCdrawmini
  510 ENDPROC
  520 :
  530 REM Draw ballbot and balls
  540 DEFPROCdrawmini
  550 IF type$="2" THEN ENDPROC
  560 GCOL3,%001011:FORb=0TO4
  570 IF ball(b,0)<>0 OR ball(b,1)<>0 THEN RECTANGLE FILL ball(b,0),ball(b,1),5,5
  580 NEXT
  590 GCOL3,%000111:RECTANGLE FILL bbx,bby,5,5
  600 ENDPROC
  610 :
  620 REM User interface (putting balls down)
  630 DEFPROCuser
  640 MOUSE x,y,c
  650 IF c=0 THEN ENDPROC
  660 IF (c AND 4)<>0 THEN PROCdrawmini:ball(current,0)=x:ball(current,1)=y:current=(current+1)MOD5:PROCdrawmini
  670 IF (c AND 2)<>0 THEN idle=FALSE:stage=0:start=TIME
  680 REPEAT
  690 MOUSE x,y,c
  700 UNTIL c=0
  710 ENDPROC
  720 :
  730 REM Calculate ballbot's new position
  740 DEFPROCmoveit
  750 IF (left AND fwd) OR (right AND reverse) THEN dir=dir-2.5*(1-3*turbo)
  760 IF (right AND fwd) OR (left AND reverse) THEN dir=dir+2.5*(1-3*turbo)
  770 :
  780 REM Get direction in range 0<theta<360
  790 REPEAT IF dir<0 THEN dir=dir+360
  800 IF dir>=360 THEN dir=dir-360
  810 UNTIL dir>=0 AND dir<360
  820 :
  830 fr=0:IF fwd THEN fr=fr+0.25
  840 IF reverse THEN fr=fr-0.25
  850 IF turbo THEN fr=fr*4
  860 PROCdrawmini:bbx=bbx+16*SIN(PI*dir/180)*fr
  870 bby=bby+16*COS(PI*dir/180)*fr
  880 FORball=0TO4:IF open AND ABS(bbx-ball(ball,0))<10 AND ABS(bby-ball(ball,1))<10 THEN ball(ball,0)=0
  890 NEXT:PROCdrawmini
  900 ENDPROC
  910 :
  920 REM Calculate ballbot's background echo reading (-balls), using several points to check out where net posts are.
  930 DEFFNback(x,y,freq)
  940 LOCAL freqa,dummy
  950 freqa=FNback2(x,y,freq,100,923):ftype$=ft$
  960 IF ft$="U" THEN =freqa
  970 dummy=FNback2(x,y,freq,100,125):IF ft$="N" AND dummy<=freqa THEN ftype$="P"
  980 dummy=FNback2(x,y,freq,898,923):IF ft$="N" AND dummy<=freqa THEN ftype$="P"
  990 =freqa
 1000 :
 1010 REM Calculate reading from one point
 1020 DEFFNback2(x,y,freq,min,max)
 1030 ft$="U":REM Set up general value of frequency type (UNIDENTIFIED)
 1040 REM Calculate Angle of net as seen by Ballbot
 1050 LOCAL freqa
 1060 netlow=(FNangle(640,max,x,y)-dir) MOD 360
 1070 IF netlow<0 THEN netlow=netlow+360
 1080 IF netlow>180 THEN netlow=netlow-360
 1090 nethi=(FNangle(640,min,x,y)-dir) MOD 360
 1100 IF nethi<0 THEN nethi=nethi+360
 1110 IF nethi>180 THEN nethi=nethi-360
 1120 :
 1130 REM Calculate reading
 1140 freqa=freq+RND(6)-3
 1150 IF ABS(SIN(PI*dir/180))>0.01 THEN IF ((netlow<0 AND nethi>0) OR (nethi<0 AND netlow>0)) AND (640-x)/SIN(PI*dir/180)>0 THEN freqa=(640-x)/SIN(PI*dir/180):ft$="N"
 1160 =freqa
 1170 :
 1180 REM Calculate Ballbot's readings (MAIN ROUTINE)
 1190 :
 1200 DEFPROCsense
 1210 REM Get background readings from FNback
 1220 freq=RND(250)+1500
 1230 freqa=FNback(bbx,bby,freq):fa$=ftype$
 1240 dir=dir-30:freqb=FNback(bbx,bby,freq):fb$=ftype$
 1250 dir=dir+60:freqc=FNback(bbx,bby,freq):fc$=ftype$
 1260 dir=dir-105:freqd=FNback(bbx,bby,freq):dir=dir+75:fd$=ftype$
 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$="B"
 1370 IF a>-90 AND a<=-46 AND freqd>d% THEN freqd=d%:fd$="B"
 1380 NEXT
 1390 :
 1400 REM Update user displays
 1410 :
 1420 IF type$="2" THEN ENDPROC
 1430 PRINTTAB(0,0)INT((TIME-start)/12000);":";(INT((TIME-start)/200)MOD60);" "
 1440 PRINTTAB(0,31)fd$,fb$,fa$,fc$,stage,INT(searching),left,right,opencter;
 1450 SOUND 1,-1,freqa/4,5:SOUND 2,-1,freqb/4,5:SOUND 3,-1,freqc/4,5
 1460 ENDPROC
 1470:
 1480 REM Calculate bearing of B from A
 1490 DEFFNangle(x1,y1,x2,y2)
 1500 IF y2=y1 THEN ang=90 ELSE ang=180*ATN((x2-x1)/(y2-y1))/PI
 1510 IF (y2>y1) THEN ang=ang+180
 1520 IF ang<0 THEN ang=ang+360
 1530 =ang MOD 360
 1540 :
 1550 REM Computer Monitor of BallBot's progress
 1560 DEFPROCcompmon
 1565 IF idle AND (ball(0,0)<>0 OR ball(1,0)<>0 OR ball(2,0)<>0 OR ball(3,0)<>0 OR ball(4,0)<>0) THEN st$="Fail" ELSE st$="Pass"
 1570 IF idle THEN PRINTst$,INT((TIME-start)/12000);":";(INT((TIME-start)/200)MOD60)
 1580 IF TIME>start+48000 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
 1605 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
 1610 ENDPROC
 1620 :
 1630 REM BALLBOT ROBOTIC INTELLIGENCE MODULE
 1640 :
 1650 DEFFNai(freqa,freqb,freqc)
 1660 REM Artificial intelligence routines (ie. What Next??)
 1670 LOCALfwd,reverse,left,right,turbo
 1680 fwd=TRUE:reverse=FALSE:left=FALSE:right=FALSE:turbo=FALSE
 1690 :
 1700 REM What stage are we in? Hunt for balls or move to new area?
 1710 IF near<>0 AND stage<8 THEN PROCdonearstuff
 1720 IF near=0 AND (stage=0 OR stage=2) THEN PROChunt
 1730 IF near=0 AND (stage=1 OR stage=3) THEN PROCmoveout
 1740 IF stage=4 THEN PROCreleaseb
 1750 :
 1760 REM Prepare output into binary for transmission
 1770 feed=0:IF fwd THEN feed=feed+1
 1780 IF reving THEN turbo=TRUE
 1790 IF reverse THEN feed=feed+2
 1800 IF left THEN feed=feed+4
 1810 IF right THEN feed=feed+8
 1820 IF turbo THEN feed=feed+16
 1830 IF opencter>0 THEN feed=feed+32
 1840 =feed
 1850 :
 1860 REM Perform a sweep to find any balls
 1870 DEFPROChunt
 1880 REM Watch out if too near to net
 1890 IF((freqa<20AND fa$<>"B")OR(freqb<20AND fb$<>"B")OR(freqc<20AND fc$<>"B"))OR(reving AND((freqa<150AND fa$<>"B")OR(freqb<150AND fb$<>"B")OR(freqc<150AND fc$<>"B")))THENreving=TRUE:reverse=TRUE:fwd=FALSE:left=FALSE:right=TRUE:ENDPROC
 1900 reving=FALSE
 1910 :
 1920 REM If Ball is out of reach in the "D" sector, reverse!
 1930 FDR=freqd*1.25:IFfreqd<150ANDfd$="B"ANDFDR<freqa ANDFDR<freqb ANDFDR<freqc AND(fa$<>"B"ORfreqa>100)AND(fb$<>"B"ORfreqb>100)AND(fc$<>"B"ORfreqc>100)THEN turbo=TRUE:reverse=TRUE:fwd=FALSE:right=TRUE:farleft=-6*(freqd>40):ENDPROC
 1940 IF farleft>0 THEN
 1950  farleft=farleft-1:reverse=TRUE:fwd=FALSE:right=TRUE:turbo=TRUE
 1960  IF fa$="B" OR (fd$<>"B" AND fb$<>"B") THEN farleft=0
 1970  ENDPROC
 1980 ENDIF
 1990 :
 2000 REM Rotate to face ball
 2002 IF (fb$="B" AND freqb>150) OR (fd$="B" AND freqd>150) THEN tending=0
 2003 IF fc$="B" AND freqc>150 THEN tending=1
 2005 IF opencter>0 THEN opencter=opencter-1:ENDPROC
 2010 opencter=-5*(((freqa<20)ANDfa$="B")OR((freqb<20)ANDfb$="B")OR((freqc<20)ANDfc$="B")OR((freqd<20)ANDfd$="B"))
 2020 IF fa$="B" THEN left=(steer=-1):right=(steer=1):steer=0:searching=searching/2:turbo=freqa>100:ENDPROC
 2030 IF fb$="B" OR fd$="B" THEN steer=-1:left=TRUE:ENDPROC
 2040 IF fc$="B" THEN steer=1:right=TRUE:ENDPROC
 2050 REM If no ball in sight, continue rotation...
 2060 align=FALSE:searching=searching+1
 2070 IF (tending AND 1)<>0 THEN right=TRUE ELSE left=TRUE
 2080 IF searching=5 THEN tending=(tending EOR 1)
 2100 IF searching>150 THEN stage=stage+1
 2110 ENDPROC
 2120 :
 2130 REM Find edge of net and aim for it to move to other side
 2140 DEFPROCmoveout
 2150 REM Watch out if too near to net
 2160 IF (freqa<30 OR freqb<30 OR freqc<30) OR (reving AND (freqa<250 OR freqb<250 OR freqc<250)) THEN reving=TRUE:farleft=0:reverse=TRUE:fwd=FALSE:right=FALSE:left=(freqa>230 AND freqb>230 AND freqc>230):ENDPROC
 2170 reving=FALSE
 2180 REM Align ballbot to face the net post...
 2190 IF fa$="N" OR fa$="P" THEN right=TRUE:ENDPROC
 2200 IF fb$<>"N" AND fb$<>"P" THEN left=TRUE:ENDPROC
 2210 IF fb$="P" AND freqb<150 THEN right=TRUE:near=1:ENDPROC
 2220 turbo=TRUE
 2260 ENDPROC
 2270 :
 2280 REM Nearly there... Just need a little nudge in the right direction.
 2290 DEFPROCdonearstuff
 2300 near=near+1
 2310 IF near<8 THEN right=TRUE:ENDPROC
 2320 left=TRUE
 2330 IF near>16 THEN near=0:stage=stage+1:searching=0:tending=1
 2340 ENDPROC
 2350 :
 2360 REM Initialise BallBot variables at the beginning of a run
 2370 DEFPROCsetupbb
 2380 reving=FALSE:left=FALSE:right=FALSE:fwd=FALSE:reverse=FALSE:searching=0:idle=TRUE
 2390 near=FALSE:farleft=0:opencter=0:tending=1:steer=0
 2400 ENDPROC
 2410 :
 2420 DEFPROCreleaseb
 2430 REM Got all the balls, now just dump them!
 2440 near=near+1:reverse=TRUE:fwd=FALSE
 2450 IF near>9 THEN idle=TRUE:near=FALSE
 2460 ENDPROC
 2470 REPEAT:FORX=1TO12:OSCLI"CHANNELVOICE 1 "+STR$X:SOUND1,-10,52,100:FORR=0TO10000:NEXT,:UNTIL FALSE
 2480 :
 2490 REM Whizz-back to line up with D - what if whizz back into net?
 2500 REM Reverse if BallBot knows that balls are behind it.


 � BallBot V3.0
7 � Real-Time Version with Continuous Testing Option
 � (C) Dominic Ford 1997
( :
2 � Welcome screen
<� �6:@%=&905:�" BallBot Artificial Intelligence Module"'"Simulation Tester V3.0 Real Time Version"''"Programmed and Designed by Dominic Ford"''�(16);"(C) 1997"
FU �'''"1. Real-Time Simulation"''"2. Logged Continuous Runs"''"3. Do specific run"
P2 � type$=�:� type$="1" � type$="2" � type$="3"
Z :
d � Setup variables
i$ � � �"CLOSE":�:�" at line ";�:�
n& ȡ 1,"StringLib-Soft":*STEREO 1 0
x) 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
�% �15:� 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$="1" � �user � �compmon
� � idle � � �
� �sense
� mov=�ai(freqa,freqb,freqc)
� fwd=(mov � 1)<>0
� reverse=(mov � 2)<>0
� left=(mov � 4)<>0
 right=(mov � 8)<>0
 turbo=(mov � 16)<>0
 open=(mov � 32)<>0
" �moveit
, � � �>(T+30)
6 � �
@ :
J � Graphic interface
T ��drawfull
^ � Set up constants
h �sx,sy,width
r sx=1:sy=2:width=10
| � Draw green court area
�% �:�0,%000100:ȓ Ȑ 0,0,1279,1023
�& � Mark out white lines onto court
�� �0,%111111:ȓ Ȑ sx/(23.77+2*sx)*1280,sy/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width:ȓ Ȑ sx/(23.77+2*sx)*1280,(1.37+sy)/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width
�� ȓ Ȑ sx/(23.77+2*sx)*1280,(9.6+sy)/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width:ȓ Ȑ sx/(23.77+2*sx)*1280,(10.97+sy)/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width
�_ ȓ Ȑ (sx+5.47)/(23.77+2*sx)*1280,(sy+5.49)/(10.97+2*sy)*1024,12.8/(23.77+2*sx)*1280,width
�� ȓ Ȑ sx/(23.77+2*sx)*1280,sy/(10.97+2*sy)*1024,width,10.97/(10.97+2*sy)*1024:ȓ Ȑ (sx+23.77)/(23.77+2*sx)*1280,sy/(10.97+2*sy)*1024,width,10.97/(10.97+2*sy)*1024+width
º ȓ Ȑ (sx+5.47)/(23.77+2*sx)*1280,(sy+1.37)/(10.97+2*sy)*1024,width,8.23/(10.97+2*sy)*1024:ȓ Ȑ (sx+18.3)/(23.77+2*sx)*1280,(sy+1.37)/(10.97+2*sy)*1024,width,8.23/(10.97+2*sy)*1024
� :
� � Draw net
� �0,0:�l=100�924�10:� 640,l:� 680,l+50:�:�l=0�40�10:� 640+l,100+l:�640+l,924+l:�:�l=0�5:�637+l,100:�677+l,150:�637+l,924:�677+l,974:�
�" �0,%111111:� 682,142:�682,966
� �drawmini
� �
 :
 � Draw ballbot and balls
 ��drawmini
& � type$="2" � �
0 �3,%001011:�b=0�4
:B � ball(b,0)<>0 � ball(b,1)<>0 � ȓ Ȑ ball(b,0),ball(b,1),5,5
D �
N! �3,%000111:ȓ Ȑ bbx,bby,5,5
X �
b :
l* � User interface (putting balls down)
v ��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
�A � (left � fwd) � (right � reverse) � dir=dir-2.5*(1-3*turbo)
�A � (right � fwd) � (left � reverse) � dir=dir+2.5*(1-3*turbo)
 :
) � Get direction in range 0<theta<360
 � � dir<0 � dir=dir+360
  � dir>=360 � dir=dir-360
* � dir>=0 � dir<360
4 :
> fr=0:� fwd � fr=fr+0.25
H � reverse � fr=fr-0.25
R � turbo � fr=fr*4
\) �drawmini:bbx=bbx+16*�(�*dir/180)*fr
f bby=bby+16*�(�*dir/180)*fr
pX �ball=0�4:� open � �(bbx-ball(ball,0))<10 � �(bby-ball(ball,1))<10 � ball(ball,0)=0
z �:�drawmini
� �
� :
�s � Calculate ballbot's background echo reading (-balls), using several points to check out where net posts are.
� ݤback(x,y,freq)
� � freqa,dummy
�. freqa=�back2(x,y,freq,100,923):ftype$=ft$
� � ft$="U" � =freqa
�I dummy=�back2(x,y,freq,100,125):� ft$="N" � dummy<=freqa � ftype$="P"
�I dummy=�back2(x,y,freq,898,923):� ft$="N" � dummy<=freqa � ftype$="P"
� =freqa
� :
�' � Calculate reading from one point
� ݤback2(x,y,freq,min,max)
D ft$="U":� Set up general value of frequency type (UNIDENTIFIED)
0 � Calculate Angle of net as seen by Ballbot
 � freqa
$+ netlow=(�angle(640,max,x,y)-dir) � 360
.# � netlow<0 � netlow=netlow+360
8% � netlow>180 � netlow=netlow-360
B* nethi=(�angle(640,min,x,y)-dir) � 360
L  � nethi<0 � nethi=nethi+360
V" � nethi>180 � nethi=nethi-360
` :
j � Calculate reading
t freqa=freq+�(6)-3
~� � �(�(�*dir/180))>0.01 � � ((netlow<0 � nethi>0) � (nethi<0 � netlow>0)) � (640-x)/�(�*dir/180)>0 � freqa=(640-x)/�(�*dir/180):ft$="N"
� =freqa
� :
�2 � Calculate Ballbot's readings (MAIN ROUTINE)
� :
� ��sense
�* � Get background readings from FNback
� freq=�(250)+1500
�) freqa=�back(bbx,bby,freq):fa$=ftype$
�4 dir=dir-30:freqb=�back(bbx,bby,freq):fb$=ftype$
�4 dir=dir+60:freqc=�back(bbx,bby,freq):fc$=ftype$
�@ dir=dir-105:freqd=�back(bbx,bby,freq):dir=dir+75:fd$=ftype$
� :
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$="B"
Z3 � a>-90 � a<=-46 � freqd>d% � freqd=d%:fd$="B"
d �
n :
x � Update user displays
� :
� � type$="2" � �
�; �0,0)�((�-start)/12000);":";(�((�-start)/200)�60);" "
�C �0,31)fd$,fb$,fa$,fc$,stage,�(searching),left,right,opencter;
�7 � 1,-1,freqa/4,5:� 2,-1,freqb/4,5:� 3,-1,freqc/4,5
� �
�:
�$ � 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$,�((�-start)/12000);":";(�((�-start)/200)�60)
,, � �>start+48000 � idle=�:�"Time","****"
6< �bbx>630�bbx<650�bby>100�bby<923�idle=�:�"Crash","****"
@k � idle � bbx=640:bby=950:dir=270:stage=0:�setupbb:start=�:�b=0�4:ball(b,0)=�(1280):ball(b,1)=�(1024):�
E� � idle � �"[";ball(0,0);",";ball(0,1);"] [";ball(1,0);",";ball(1,1);"] [";ball(2,0);",";ball(2,1);"] [";ball(3,0);",";ball(3,1);"] [";ball(4,0);",";ball(4,1);"]",;:idle=�
J �
T :
^* � BALLBOT ROBOTIC INTELLIGENCE MODULE
h :
r ݤai(freqa,freqb,freqc)
|9 � Artificial intelligence routines (ie. What Next??)
�" �fwd,reverse,left,right,turbo
�+ fwd=�:reverse=�:left=�:right=�:turbo=�
� :
�@ � What stage are we in? Hunt for balls or move to new area?
�' � near<>0 � stage<8 � �donearstuff
�+ � near=0 � (stage=0 � stage=2) � �hunt
�. � near=0 � (stage=1 � stage=3) � �moveout
� � stage=4 � �releaseb
� :
�2 � Prepare output into binary for transmission
� feed=0:� fwd � feed=feed+1
� � reving � turbo=�
� � reverse � feed=feed+2
 � left � feed=feed+4
 � right � feed=feed+8
 � turbo � feed=feed+16
&  � opencter>0 � feed=feed+32
0
 =feed
: :
D( � Perform a sweep to find any balls
N ��hunt
X# � Watch out if too near to net
b� �((freqa<20� fa$<>"B")�(freqb<20� fb$<>"B")�(freqc<20� fc$<>"B"))�(reving �((freqa<150� fa$<>"B")�(freqb<150� fb$<>"B")�(freqc<150� fc$<>"B")))�reving=�:reverse=�:fwd=�:left=�:right=�:�
l
 reving=�
v :
�: � If Ball is out of reach in the "D" sector, reverse!
�� FDR=freqd*1.25:�freqd<150�fd$="B"�FDR<freqa �FDR<freqb �FDR<freqc �(fa$<>"B"�freqa>100)�(fb$<>"B"�freqb>100)�(fc$<>"B"�freqc>100)� turbo=�:reverse=�:fwd=�:right=�:farleft=-6*(freqd>40):�
� � farleft>0 �
�7  farleft=farleft-1:reverse=�:fwd=�:right=�:turbo=�
�3  � fa$="B" � (fd$<>"B" � fb$<>"B") � farleft=0
�  �
� �
� :
� � Rotate to face ball
�@ � (fb$="B" � freqb>150) � (fd$="B" � freqd>150) � tending=0
�& � fc$="B" � freqc>150 � tending=1
�) � opencter>0 � opencter=opencter-1:�
�f opencter=-5*(((freqa<20)�fa$="B")�((freqb<20)�fb$="B")�((freqc<20)�fc$="B")�((freqd<20)�fd$="B"))
�` � fa$="B" � left=(steer=-1):right=(steer=1):steer=0:searching=searching/2:turbo=freqa>100:�
�, � fb$="B" � fd$="B" � steer=-1:left=�:�
�" � fc$="B" � steer=1:right=�:�
0 � If no ball in sight, continue rotation...
" align=�:searching=searching+1
* � (tending � 1)<>0 � right=� � left=�
 * � searching=5 � tending=(tending � 1)
4$ � searching>150 � stage=stage+1
> �
H :
R< � Find edge of net and aim for it to move to other side
\ ��moveout
f# � Watch out if too near to net
p� � (freqa<30 � freqb<30 � freqc<30) � (reving � (freqa<250 � freqb<250 � freqc<250)) � reving=�:farleft=0:reverse=�:fwd=�:right=�:left=(freqa>230 � freqb>230 � freqc>230):�
z
 reving=�
�, � 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=�
� �
� :
�G � Nearly there... Just need a little nudge in the right direction.
� ��donearstuff
� near=near+1
	 � near<8 � right=�:�
	 left=�
	; � near>16 � near=0:stage=stage+1:searching=0:tending=1
	$ �
	. :
	8= � Initialise BallBot variables at the beginning of a run
	B ��setupbb
	L? reving=�:left=�:right=�:fwd=�:reverse=�:searching=0:idle=�
	V2 near=�:farleft=0:opencter=0:tending=1:steer=0
	` �
	j :
	t ��releaseb
	~- � Got all the balls, now just dump them!
	�  near=near+1:reverse=�:fwd=�
	� � near>9 � idle=�:near=�
	� �
	�D �:�X=1�12:�"CHANNELVOICE 1 "+�X:�1,-10,52,100:�R=0�10000:�,:� �
	� :
	�B � Whizz-back to line up with D - what if whizz back into net?
	�9 � Reverse if BallBot knows that balls are behind it.
�
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00000060  64 20 31 39 39 37 0d 00  28 06 20 3a 0d 00 32 15  |d 1997..(. :..2.|
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00002430  0d 09 60 06 20 e1 0d 09  6a 06 20 3a 0d 09 74 0f  |..`. ...j. :..t.|
00002440  20 dd f2 72 65 6c 65 61  73 65 62 0d 09 7e 2d 20  | ..releaseb..~- |
00002450  f4 20 47 6f 74 20 61 6c  6c 20 74 68 65 20 62 61  |. Got all the ba|
00002460  6c 6c 73 2c 20 6e 6f 77  20 6a 75 73 74 20 64 75  |lls, now just du|
00002470  6d 70 20 74 68 65 6d 21  0d 09 88 20 20 6e 65 61  |mp them!...  nea|
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000024b0  65 61 72 3d a3 0d 09 9c  06 20 e1 0d 09 a6 44 20  |ear=..... ....D |
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000024d0  4e 45 4c 56 4f 49 43 45  20 31 20 22 2b c3 58 3a  |NELVOICE 1 "+.X:|
000024e0  d4 31 2c 2d 31 30 2c 35  32 2c 31 30 30 3a e3 52  |.1,-10,52,100:.R|
000024f0  3d 30 b8 31 30 30 30 30  3a ed 2c 3a fd 20 a3 0d  |=0.10000:.,:. ..|
00002500  09 b0 06 20 3a 0d 09 ba  42 20 f4 20 57 68 69 7a  |... :...B . Whiz|
00002510  7a 2d 62 61 63 6b 20 74  6f 20 6c 69 6e 65 20 75  |z-back to line u|
00002520  70 20 77 69 74 68 20 44  20 2d 20 77 68 61 74 20  |p with D - what |
00002530  69 66 20 77 68 69 7a 7a  20 62 61 63 6b 20 69 6e  |if whizz back in|
00002540  74 6f 20 6e 65 74 3f 0d  09 c4 39 20 f4 20 52 65  |to net?...9 . Re|
00002550  76 65 72 73 65 20 69 66  20 42 61 6c 6c 42 6f 74  |verse if BallBot|
00002560  20 6b 6e 6f 77 73 20 74  68 61 74 20 62 61 6c 6c  | knows that ball|
00002570  73 20 61 72 65 20 62 65  68 69 6e 64 20 69 74 2e  |s are behind it.|
00002580  0d ff                                             |..|
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