BioBot/BBReal

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BioBot/BBReal

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/BBReal
Read OK:	✔
File size:	1C09 bytes
Load address:	FFFFFB45
Exec address:	BBFA9511

Duplicates

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

Personal collection » Acorn ADFS disks » Archimedes » Dominic_4.ADF » BioBot/BBReal
Personal collection » Acorn ADFS disks » Archimedes » Files.ADF » BioBot/BBReal
Personal collection » Acorn ADFS disks » Greaseweazled » adfs_Dominic_4.adf » BioBot/BBReal
Personal collection » Acorn ADFS disks » Greaseweazled » dos34_s2312.016_compaq_user_programs.adf » BioBot/BBReal
Personal collection » Acorn hard disk » files » BallBot » BioBot/BBReal
Personal collection » Acorn hard disk » misc » misc2 » biobot/BioBot/BBReal

File contents

   10 REM BallBot V2.0
   20 REM Real-Time Version
   30 REM (C) Dominic Ford 1997
   40 :
   42 REM Welcome screen
   44 MODE6:PRINT" BallBot Artificial Intelligence Module"'"Simulation Tester V2.0 Real Time Version"''"Programmed and Designed by Dominic Ford"''SPC(16);"(C) 1997"
   45 PRINT'''"Press <SPACE>"
   48 REPEAT UNTIL INKEY(-99)
   49 :
   50 REM Setup variables
   60 VOICE 1,"StringLib-Soft":*STEREO 1 0
   70 VOICE 2,"StringLib-Soft":*STEREO 2 -127
   80 VOICE 3,"StringLib-Soft":*STEREO 3 127
   90 current=0:DIMball(4,1):bbx=640:bby=950:dir=270:PROCsetupbb
  100 MODE15:MOUSE ON:PROCdrawfull
  110 :
  120 REM Start main loop
  130 REPEAT:T=TIME
  140 PROCuser
  150 IF idle THEN UNTIL FALSE
  160 PROCsense
  170 mov=FNai(freqa,freqb,freqc)
  180 fwd=(mov AND 1)<>0
  190 reverse=(mov AND 2)<>0
  200 left=(mov AND 4)<>0
  210 right=(mov AND 8)<>0
  215 turbo=(mov AND 16)<>0
  220 PROCmoveit
  230 REPEAT UNTIL TIME>(T+15)
  240 UNTIL FALSE
  250 :
  260 REM Graphic interface
  270 DEFPROCdrawfull
  275 REM Set up constants
  280 LOCALsx,sy,width
  290 sx=1:sy=2:width=5
  295 REM Draw green court area
  300 CLS:GCOL0,%001100:RECTANGLE FILL 0,0,1279,1023
  305 REM Mark out white lines onto court
  310 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
  320 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
  330 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
  340 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
  350 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
  360 :
  370 REM Draw net
  380 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
  385 GCOL0,%111111:MOVE 682,142:DRAW682,966
  390 PROCdrawmini
  400 ENDPROC
  410 :
  420 REM Draw ballbot and balls
  430 DEFPROCdrawmini
  440 GCOL3,1:FORb=0TO4
  450 IF ball(b,0)<>0 OR ball(b,1)<>0 THEN RECTANGLE FILL ball(b,0),ball(b,1),5,5
  460 NEXT
  470 GCOL3,%110000:RECTANGLE FILL bbx,bby,5,5
  480 ENDPROC
  490 :
  500 REM Reset to test a new biobot
  510 DEFPROCrestart
  520 stage=0:bbx=640:bby=950:dir=270
  530 FORr=0TO4:REPEAT:ball(r,0)=100+RND(1000):ball(r,1)=100+RND(800)
  540 IF ball(r,0)<670 AND ball(r,1)>620 THEN UNTIL FALSE
  550 UNTIL TRUE:NEXT
  560 PROCdrawfull
  570 ENDPROC
  580 :
  590 REM User interface (putting balls down)
  600 DEFPROCuser
  610 MOUSE x,y,c
  620 IF c=0 THEN ENDPROC
  630 IF (c AND 4)<>0 THEN PROCdrawmini:ball(current,0)=x:ball(current,1)=y:current=(current+1)MOD5:PROCdrawmini
  640 IF (c AND 2)<>0 THEN idle=FALSE:stage=0:start=TIME
  650 REPEAT
  660 MOUSE x,y,c
  670 UNTIL c=0
  680 ENDPROC
  690 :
  700 REM Calculate ballbot's new position
  710 DEFPROCmoveit
  720 IF (left AND fwd) OR (right AND reverse) THEN dir=dir-2.5
  730 IF (right AND fwd) OR (left AND reverse) THEN dir=dir+2.5
  740 :
  750 REM Get direction in range 0<theta<360
  760 REPEAT IF dir<0 THEN dir=dir+360
  770 IF dir>=360 THEN dir=dir-360
  780 UNTIL dir>=0 AND dir<360
  790 :
  800 fr=0:IF fwd THEN fr=fr+0.25
  810 IF reverse THEN fr=fr-0.25
  815 IF turbo THEN fr=fr*4
  820 PROCdrawmini:bbx=bbx+16*SIN(PI*dir/180)*fr
  830 bby=bby+16*COS(PI*dir/180)*fr
  840 FORball=0TO4:IF ABS(bbx-ball(ball,0))<10 AND ABS(bby-ball(ball,1))<10 THEN ball(ball,0)=0
  850 NEXT:PROCdrawmini
  860 ENDPROC
  870 :
  880 REM Calculate ballbot's background echo reading (-balls)
  890 DEFFNback(x,y,freq)
  900 REM Calculate Angle of net as seen by Ballbot
  910 LOCAL freqa
  920 netlow=(FNangle(640,923,x,y)-dir) MOD 360
  930 IF netlow<0 THEN netlow=netlow+360
  940 IF netlow>180 THEN netlow=netlow-360
  950 nethi=(FNangle(640,100,x,y)-dir) MOD 360
  960 IF nethi<0 THEN nethi=nethi+360
  970 IF nethi>180 THEN nethi=nethi-360
  980 :
  990 REM Calculate reading
 1000 freqa=freq+RND(6)-3
 1010 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)
 1020 =freqa
 1030 :
 1040 REM Calculate Ballbot's readings (MAIN ROUTINE)
 1050 :
 1060 DEFPROCsense
 1070 REM Get background readings from FNback
 1080 freq=RND(250)+1500:fa$="U":fb$=fa$:fc$=fa$
 1090 freqa=FNback(bbx,bby,freq)
 1100 dir=dir-5:freqb=FNback(bbx,bby,freq)
 1110 dir=dir+10:freqc=FNback(bbx,bby,freq):dir=dir-5
 1120 :
 1130 REM Add any relevant balls to readings (using hairy trigonometry)
 1140 :
 1150 FORball=0TO4
 1160 d%=SQR((ball(ball,0)-bbx)^2+(ball(ball,1)-bby)^2)
 1170 IF ball(ball,0)=0 THEN d%=9999
 1180 a=FNangle(ball(ball,0),ball(ball,1),bbx,bby)-dir
 1190 IF ABS(a)<15 AND freqa>d% THEN freqa=d%:fa$="B"
 1200 IF a>-46 AND a<=-15 AND freqb>d% THEN freqb=d%:fb$="B"
 1210 IF a>=15 AND a<46 AND freqc>d% THEN freqc=d%:fc$="B"
 1230 NEXT
 1240 :
 1250 REM Update user displays
 1260 :
 1265 PRINTTAB(0,0)INT((TIME-start)/6000);":";(INT((TIME-start)/100)MOD60)
 1270 PRINTTAB(0,31)fb$,fa$,fc$,stage,INT(searching),left,right;
 1280 SOUND 1,-1,freqa/4,5:SOUND 2,-1,freqb/4,5:SOUND 3,-1,freqc/4,5
 1290 ENDPROC
 1300:
 1310 REM Calculate bearing of B from A
 1320 DEFFNangle(x1,y1,x2,y2)
 1330 IF y2=y1 THEN ang=90 ELSE ang=180*ATN((x2-x1)/(y2-y1))/PI
 1340 IF (y2>y1) THEN ang=ang+180
 1345 IF ang<0 THEN ang=ang+360
 1350 =ang MOD 360
 1360 :
 1370 REM BALLBOT ROBOTIC INTELLIGENCE MODULE
 1380 :
 1390 DEFFNai(freqa,freqb,freqc)
 1400 REM Artificial intelligence routines (ie. What Next??)
 1410 LOCALfwd,reverse,left,right,turbo
 1420 fwd=TRUE:reverse=FALSE:left=FALSE:right=FALSE:turbo=FALSE
 1430 :
 1440 REM What stage are we in? Hunt for balls or move to new area?
 1450 :
 1460 IF near<>0 AND stage<8 THEN PROCdonearstuff
 1470 IF near=0 AND (stage=0 OR stage=2 OR stage=4 OR stage=6) THEN PROChunt
 1480 IF near=0 AND (stage=1 OR stage=5) THEN PROCwaitmove
 1490 IF near=0 AND (stage=3 OR stage=7) THEN PROCmoveout
 1500 IF stage=8 THEN PROCreleaseb
 1510 feed=0:IF fwd THEN feed=feed+1
 1515 IF reving THEN turbo=TRUE
 1520 IF reverse THEN feed=feed+2
 1530 IF left THEN feed=feed+4
 1540 IF right THEN feed=feed+8
 1545 IF turbo THEN feed=feed+16
 1550 =feed
 1560 :
 1570 REM Perform a sweep to find any balls
 1580 DEFPROChunt
 1590 IF (freqa<20 AND freqb<20 AND freqc<20) OR (reving AND freqa<100 AND freqb<100 AND freqc<100) THEN searching=0:reving=TRUE:reverse=TRUE:fwd=FALSE:left=FALSE:right=FALSE:ENDPROC
 1600 REM IF (freqa<freqb AND freqa<freqc) OR (freqa>freqb AND freqa>freqc) THEN d=TRUE ELSE d=FALSE
 1610 reving=FALSE
 1620 IF fa$="B" THEN searching=searching/2:turbo=freqa>100:ENDPROC
 1630 IF fb$="B" THEN left=TRUE:ENDPROC
 1640 IF fc$="B" THEN right=TRUE:ENDPROC
 1650 searching=searching+1:IF searching<5 THEN right=TRUE ELSE left=TRUE
 1660 IF searching>150 THEN stage=stage+1
 1670 ENDPROC
 1680 :
 1690 REM Move to next hunt
 1700 DEFPROCwaitmove
 1710 searching=searching+1:IFsearching>159 THEN stage=stage+1:searching=0
 1720 IF freqa>40 THEN forward=TRUE ELSE stage=stage+1:searching=0
 1730 ENDPROC
 1740 :
 1750 REM Find edge of net and aim for it to move to other side
 1760 DEFPROCmoveout
 1770 IF (freqa<30 OR freqb<30 OR freqc<30) OR (reving AND (freqa<125 OR freqb<125 OR freqc<125)) THEN searching=searching/2:reving=TRUE:reverse=TRUE:fwd=FALSE:left=FALSE:right=FALSE:ENDPROC
 1780 reving=FALSE
 1790 IF freqb<40 AND freqa>250 THEN right=TRUE:near=1:ENDPROC
 1800 IF freqa<200 AND freqb<200 AND freqc<200 THEN right=TRUE:ENDPROC
 1810 IF (freqb*1.5)<freqc AND (freqa*1.5)<freqc THEN right=TRUE:ENDPROC
 1820 IF (freqb*1.5)>freqc THEN left=TRUE:ENDPROC
 1825 IF freqb>100 THEN turbo=TRUE
 1830 ENDPROC
 1840 :
 1850 REM Nearly there... Just need a little nudge in the right direction.
 1860 DEFPROCdonearstuff
 1870 near=near+1
 1880 IF near<8 THEN right=TRUE:ENDPROC
 1890 left=TRUE
 1900 IF near>16 THEN near=0:stage=stage+1:searching=0
 1910 ENDPROC
 1920 :
 1930 DEFPROCsetupbb
 1940 reving=FALSE:left=FALSE:right=FALSE:fwd=FALSE:reverse=FALSE:searching=0:idle=TRUE
 1950 near=FALSE
 1960 ENDPROC
 1970 :
 1980 DEFPROCreleaseb
 1990 REM Got all the balls, now just dump them!
 2000 near=near+1:reverse=TRUE:fwd=FALSE
 2010 IF near>9 THEN idle=TRUE:near=FALSE
 2020 ENDPROC
 2030 REPEAT:FORX=1TO12:OSCLI"CHANNELVOICE 1 "+STR$X:SOUND1,-10,52,100:FORR=0TO10000:NEXT,:UNTIL FALSE


 � BallBot V2.0
 � Real-Time Version
 � (C) Dominic Ford 1997
( :
* � Welcome screen
,� �6:�" BallBot Artificial Intelligence Module"'"Simulation Tester V2.0 Real Time Version"''"Programmed and Designed by Dominic Ford"''�(16);"(C) 1997"
- �'''"Press <SPACE>"
0 � � �(-99)
1 :
2 � Setup variables
<& ȡ 1,"StringLib-Soft":*STEREO 1 0
F) ȡ 2,"StringLib-Soft":*STEREO 2 -127
P( ȡ 3,"StringLib-Soft":*STEREO 3 127
Z: current=0:�ball(4,1):bbx=640:bby=950:dir=270:�setupbb
d �15:ȗ �:�drawfull
n :
x � Start main loop
�
 �:T=�
�
 �user
� � 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
� �moveit
� � � �>(T+15)
� � �
� :
 � Graphic interface
 ��drawfull
 � Set up constants
 �sx,sy,width
" sx=1:sy=2:width=5
' � Draw green court area
,% �:�0,%001100:ȓ Ȑ 0,0,1279,1023
1& � Mark out white lines onto court
6� �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
J_ 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
T� 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
h :
r � 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
� �3,1:�b=0�4
�B � ball(b,0)<>0 � ball(b,1)<>0 � ȓ Ȑ ball(b,0),ball(b,1),5,5
� �
�! �3,%110000:ȓ Ȑ bbx,bby,5,5
� �
� :
�! � Reset to test a new biobot
� ��restart
$ stage=0:bbx=640:bby=950:dir=270
8 �r=0�4:�:ball(r,0)=100+�(1000):ball(r,1)=100+�(800)
* � ball(r,0)<670 � ball(r,1)>620 � � �
&
 � �:�
0 �drawfull
: �
D :
N* � User interface (putting balls down)
X ��user
b
 ȗ x,y,c
l � c=0 � �
va � (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
�5 � (left � fwd) � (right � reverse) � dir=dir-2.5
�5 � (right � fwd) � (left � reverse) � dir=dir+2.5
� :
�) � Get direction in range 0<theta<360
� � � dir<0 � dir=dir+360
 � dir>=360 � dir=dir-360
 � dir>=0 � dir<360
 :
  fr=0:� fwd � fr=fr+0.25
* � reverse � fr=fr-0.25
/ � turbo � fr=fr*4
4) �drawmini:bbx=bbx+16*�(�*dir/180)*fr
> bby=bby+16*�(�*dir/180)*fr
HQ �ball=0�4:� �(bbx-ball(ball,0))<10 � �(bby-ball(ball,1))<10 � ball(ball,0)=0
R �:�drawmini
\ �
f :
p; � Calculate ballbot's background echo reading (-balls)
z ݤback(x,y,freq)
�0 � Calculate Angle of net as seen by Ballbot
� � freqa
�+ netlow=(�angle(640,923,x,y)-dir) � 360
�# � netlow<0 � netlow=netlow+360
�% � netlow>180 � netlow=netlow-360
�* nethi=(�angle(640,100,x,y)-dir) � 360
�  � nethi<0 � nethi=nethi+360
�" � nethi>180 � nethi=nethi-360
� :
� � Calculate reading
� 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)
� =freqa
 :
2 � Calculate Ballbot's readings (MAIN ROUTINE)
 :
$ ��sense
.* � Get background readings from FNback
8- freq=�(250)+1500:fa$="U":fb$=fa$:fc$=fa$
B freqa=�back(bbx,bby,freq)
L( dir=dir-5:freqb=�back(bbx,bby,freq)
V3 dir=dir+10:freqc=�back(bbx,bby,freq):dir=dir-5
` :
jD � Add any relevant balls to readings (using hairy trigonometry)
t :
~ �ball=0�4
�4 d%=�((ball(ball,0)-bbx)^2+(ball(ball,1)-bby)^2)
� � ball(ball,0)=0 � d%=9999
�4 a=�angle(ball(ball,0),ball(ball,1),bbx,bby)-dir
�, � �(a)<15 � freqa>d% � freqa=d%:fa$="B"
�3 � a>-46 � a<=-15 � freqb>d% � freqb=d%:fb$="B"
�1 � a>=15 � a<46 � freqc>d% � freqc=d%:fc$="B"
� �
� :
� � Update user displays
� :
�6 �0,0)�((�-start)/6000);":";(�((�-start)/100)�60)
�6 �0,31)fb$,fa$,fc$,stage,�(searching),left,right;
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)
24 � y2=y1 � ang=90 � ang=180*�((x2-x1)/(y2-y1))/�
< � (y2>y1) � ang=ang+180
A � ang<0 � ang=ang+360
F =ang � 360
P :
Z* � BALLBOT ROBOTIC INTELLIGENCE MODULE
d :
n ݤai(freqa,freqb,freqc)
x9 � 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 � stage=4 � stage=6) � �hunt
�/ � near=0 � (stage=1 � stage=5) � �waitmove
�. � near=0 � (stage=3 � stage=7) � �moveout
� � stage=8 � �releaseb
� feed=0:� fwd � feed=feed+1
� � reving � turbo=�
� � reverse � feed=feed+2
� � left � feed=feed+4
 � right � feed=feed+8
	 � turbo � feed=feed+16

 =feed
 :
"( � Perform a sweep to find any balls
, ��hunt
6� � (freqa<20 � freqb<20 � freqc<20) � (reving � freqa<100 � freqb<100 � freqc<100) � searching=0:reving=�:reverse=�:fwd=�:left=�:right=�:�
@a � IF (freqa<freqb AND freqa<freqc) OR (freqa>freqb AND freqa>freqc) THEN d=TRUE ELSE d=FALSE
J
 reving=�
T8 � fa$="B" � searching=searching/2:turbo=freqa>100:�
^ � fb$="B" � left=�:�
h � fc$="B" � right=�:�
r; searching=searching+1:� searching<5 � right=� � left=�
|$ � searching>150 � stage=stage+1
� �
� :
� � Move to next hunt
� ��waitmove
�E searching=searching+1:�searching>159 � stage=stage+1:searching=0
�7 � freqa>40 � forward=� � stage=stage+1:searching=0
� �
� :
�< � Find edge of net and aim for it to move to other side
� ��moveout
� � (freqa<30 � freqb<30 � freqc<30) � (reving � (freqa<125 � freqb<125 � freqc<125)) � searching=searching/2:reving=�:reverse=�:fwd=�:left=�:right=�:�
�
 reving=�
�. � freqb<40 � freqa>250 � right=�:near=1:�
4 � freqa<200 � freqb<200 � freqc<200 � right=�:�
8 � (freqb*1.5)<freqc � (freqa*1.5)<freqc � right=�:�
# � (freqb*1.5)>freqc � left=�:�
! � freqb>100 � turbo=�
& �
0 :
:G � Nearly there... Just need a little nudge in the right direction.
D ��donearstuff
N near=near+1
X � near<8 � right=�:�
b left=�
l1 � near>16 � near=0:stage=stage+1:searching=0
v �
� :
� ��setupbb
�? reving=�:left=�:right=�:fwd=�:reverse=�:searching=0:idle=�
� near=�
� �
� :
� ��releaseb
�- � Got all the balls, now just dump them!
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00001b50  73 65 62 0d 07 c6 2d 20  f4 20 47 6f 74 20 61 6c  |seb...- . Got al|
00001b60  6c 20 74 68 65 20 62 61  6c 6c 73 2c 20 6e 6f 77  |l the balls, now|
00001b70  20 6a 75 73 74 20 64 75  6d 70 20 74 68 65 6d 21  | just dump them!|
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