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BioBot/BBotSim

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 » dos34_s2312.016_compaq_user_programs.adf
Filename: BioBot/BBotSim
Read OK: ✔
File size: 259F bytes
Load address: FFFFFB45
Exec address: 8FE634E8
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$="1" THEN PROCuser ELSE PROCcompmon
  240 IF idle THEN UNTIL FALSE
  250 PROCsense
  260 mov=FNai(freqa,freqb,freqc,freqd)
  270 left=(mov AND 1)<>0
  280 right=(mov AND 2)<>0
  290 turbo=(mov AND 4)<>0
  300 on=(mov AND 8)<>0
  310 reverse=(mov AND 16)<>0
  320 PROCmoveit
  330 REPEAT UNTIL TIME>(T+15)
  340 UNTIL FALSE
  350 :
  360 REM Graphic interface
  370 DEFPROCdrawfull
  380 REM Set up constants
  390 LOCALsx,sy,width
  400 sx=1:sy=2:width=10
  410 REM Setup Colours
  420 COLOUR0,0,64,0:COLOUR1,255,0,0:COLOUR2,255,255,255:COLOUR3,255,0,0:COLOUR4,255,255,0:COLOUR5,0,0,0:COLOUR6,255,255,0
  430 :
  440 REM Draw green court area
  450 CLS:GCOL0,0:RECTANGLE FILL 0,0,1279,1023
  460 REM Mark out white lines onto court
  470 GCOL0,2:RECTANGLE FILL sx/(23.77+2*sx)*1280,sy/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width:RECTANGLE FILL sx/(23.77+2*sx)*1280,(1.37+sy)/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width
  480 RECTANGLE FILL sx/(23.77+2*sx)*1280,(9.6+sy)/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width:RECTANGLE FILL sx/(23.77+2*sx)*1280,(10.97+sy)/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width
  490 RECTANGLE FILL (sx+5.47)/(23.77+2*sx)*1280,(sy+5.49)/(10.97+2*sy)*1024,12.8/(23.77+2*sx)*1280,width
  500 RECTANGLE FILL sx/(23.77+2*sx)*1280,sy/(10.97+2*sy)*1024,width,10.97/(10.97+2*sy)*1024:RECTANGLE FILL (sx+23.77)/(23.77+2*sx)*1280,sy/(10.97+2*sy)*1024,width,10.97/(10.97+2*sy)*1024+width
  510 RECTANGLE FILL (sx+5.47)/(23.77+2*sx)*1280,(sy+1.37)/(10.97+2*sy)*1024,width,8.23/(10.97+2*sy)*1024:RECTANGLE FILL (sx+18.3)/(23.77+2*sx)*1280,(sy+1.37)/(10.97+2*sy)*1024,width,8.23/(10.97+2*sy)*1024
  520 :
  530 REM Draw net
  540 GCOL0,5:FORl=100TO924STEP10:MOVE 640,l:DRAW 680,l+50:NEXT:FORl=0TO40STEP10:MOVE 640+l,100+l:DRAW640+l,924+l:NEXT:FORl=0TO5:MOVE637+l,100:DRAW677+l,150:MOVE637+l,924:DRAW677+l,974:NEXT
  550 GCOL0,2:MOVE 682,142:DRAW682,966
  560 PROCdrawmini
  570 ENDPROC
  580 :
  590 REM Draw ballbot and balls
  600 DEFPROCdrawmini
  610 IF type$="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 NOT on THEN ENDPROC
  830 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
  840 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
  850 IF left AND right THEN speed=1+2*reverse
  860 :
  870 REM Get direction in range 0<theta<360
  880 REPEAT IF dir<0 THEN dir=dir+360
  890 IF dir>=360 THEN dir=dir-360
  900 UNTIL dir>=0 AND dir<360
  910 :
  920 PROCdrawmini:bbx=bbx+15*SIN(PI*dir/180)*speed*(.75*-turbo+.25)
  930 bby=bby+20*COS(PI*dir/180)*speed*(.75*-turbo+.25)
  940 FORball=0TO4:IF ABS(bbx-ball(ball,0))<10 AND ABS(bby-ball(ball,1))<10 THEN ball(ball,0)=0
  950 NEXT:PROCdrawmini
  960 ENDPROC
  970 :
  980 REM Calculate ballbot's background echo reading (-balls)
  990 DEFFNback(freq,min,max)
 1000 REM Get angular range in form 0<theta<360
 1010 REM Set up initial outside range settings
 1020 hit=0:dist=9999:dista=9999:hita=0:REM LOCAL hit,dist,hita,dista
 1030 REM If straight at net is in range, will be shortest.
 1040 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
 1050 REM Otherwise find shortest extreme of range
 1060 IF SIN(PI*min/180)<>0 THEN dist=(640-bbx)/SIN(PI*min/180):hit=bby+(640-bbx)/TAN(PI*min/180)
 1070 IF SIN(PI*max/180)<>0 THEN dista=(640-bbx)/SIN(PI*max/180):hita=bby+(640-bbx)/TAN(PI*max/180)
 1080 REM Just check if post in middle of range
 1090 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)
 1100 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)
 1110 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)
 1120 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)
 1130 REM Pick best to send off!
 1140 IF dist<0 OR (dista<dist AND hita>100 AND hita<923) THEN dist=dista:hit=hita
 1150 IF hit>923 OR hit<100 OR dist<0 THEN ftype$="U":=freq+RND(6)-3
 1160 IF hit>900 OR hit<123 THEN ftype$="P":=dist
 1170 ftype$="N"
 1180 =dist
 1190 :
 1200 REM Calculate Ballbot's readings (MAIN ROUTINE)
 1210 :
 1220 DEFPROCsense
 1230 REM Get background readings from FNback
 1240 freq=RND(250)+1500
 1250 freqa=FNback(freq,dir-15,dir+15):fa$=ftype$
 1260 freqb=FNback(freq,dir-45,dir-15):fb$=ftype$
 1270 freqc=FNback(freq,dir+15,dir+45):fc$=ftype$
 1280 freqd=FNback(freq,dir-75,dir-45):fd$=ftype$
 1290 :
 1300 REM Add any relevant balls to readings (using hairy trigonometry)
 1310 :
 1320 FORball=0TO4
 1330 d%=SQR((ball(ball,0)-bbx)^2+(ball(ball,1)-bby)^2)
 1340 IF ball(ball,0)=0 THEN d%=9999
 1350 a=FNangle(ball(ball,0),ball(ball,1),bbx,bby)-dir
 1360 IFa>180 THEN a=a-360
 1370 IFa<=-179 THEN a=a+360
 1380 IF ABS(a)<15 AND freqa>d% THEN freqa=d%:fa$="B"
 1390 IF a>-46 AND a<=-15 AND freqb>d% THEN freqb=d%:fb$="B"
 1400 IF a>=15 AND a<46 AND freqc>d% THEN freqc=d%:fc$="B"
 1410 IF a>-75 AND a<=-46 AND freqd>d% THEN freqd=d%:fd$="B"
 1420 NEXT
 1430 :
 1440 REM Update user displays
 1450 :
 1460 IF type$="2" THEN ENDPROC
 1470 PRINTTAB(0,0)INT((TIME-start)/6000);":";(INT((TIME-start)/100)MOD60);" "
 1480 PRINTTAB(0,31)fd$,fb$,fa$,fc$;
 1490 ENDPROC
 1500:
 1510 REM Calculate bearing of B from A
 1520 DEFFNangle(x1,y1,x2,y2)
 1530 IF y2=y1 THEN ang=90 ELSE ang=180*ATN((x2-x1)/(y2-y1))/PI
 1540 IF (y2>y1) THEN ang=ang+180
 1550 IF ang<0 THEN ang=ang+360
 1560 =ang MOD 360
 1570 :
 1580 REM Computer Monitor of BallBot's progress
 1590 DEFPROCcompmon
 1600 IF idle AND (ball(0,0)<>0 OR ball(1,0)<>0 OR ball(2,0)<>0 OR ball(3,0)<>0 OR ball(4,0)<>0) THEN st$="Fail" ELSE st$="Pass"
 1610 IF idle THEN PRINTst$,INT((TIME-start)/6000);":";(INT((TIME-start)/100)MOD60)
 1620 IF TIME>start+36000 THEN idle=TRUE:PRINT"Time","****"
 1630 IFbbx>635ANDbbx<645ANDbby>105ANDbby<920THENidle=TRUE:PRINT"Crash","****"
 1640 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
 1650 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
 1660 ENDPROC
 1670 :
 1680 REM BALLBOT ROBOTIC INTELLIGENCE MODULE
 1690 :
 1700 DEFFNai(freqa,freqb,freqc,freqd)
 1710 REM Artificial intelligence routines (ie. What Next??)
 1720 LOCALleft,right,turbo,reverse
 1730 left=FALSE:right=FALSE:turbo=FALSE:reverse=FALSE
 1740 :
 1750 REM What stage are we in? Hunt for balls or move to new area?
 1760 IF near<>0 AND stage<4 THEN PROCdonearstuff
 1770 IF near=0 AND (stage=0 OR stage=2) THEN PROChunt
 1780 IF near=0 AND (stage=1 OR stage=3) THEN PROCmoveout
 1790 IF stage=4 THEN PROCreleaseb
 1800 :
 1810 REM Prepare output into binary for transmission
 1820 feed=0:IF left THEN feed=feed+1
 1830 IF right THEN feed=feed+2
 1840 IF turbo THEN feed=feed+4
 1850 IF NOT idle THEN feed=feed+8
 1860 IF reverse THEN feed=feed+16
 1870 =feed
 1880 :
 1890 REM Perform a sweep to find any balls
 1900 DEFPROChunt
 1910 REM Watch out if too near to net
 1920 IF (fa$<>"B" AND freqa<30)OR(fb$<>"B" AND freqb<10)OR(fc$<>"B" AND freqc<10) THEN reving=5:turbo=TRUE:reverse=TRUE:right=TRUE:left=TRUE:ENDPROC
 1930 IF reving>0 AND (freqa<150 OR freqb<150 OR freqc<150) THEN reving=reving-1:turbo=TRUE:reverse=TRUE:right=FALSE:left=TRUE:ENDPROC
 1940 reving=0
 1950 :
 1960 REM Rotate to face ball
 1970 REM Where search after this ball?
 1980 IF (fb$="B" AND freqb>150) THEN tending=0
 1990 IF fc$="B" AND freqc>150 THEN tending=1
 2000 REM Pick best ball to aim at
 2010 dist=freqa*0.75:IF dist>freqb AND fb$="B" AND (freqb<freqc OR fc$<>"B") THEN steer=-1:left=TRUE:ENDPROC
 2020 IF dist>freqc AND fc$="B" THEN steer=1:right=TRUE:ENDPROC
 2030 IF fa$="B" THEN left=(steer<>1):right=(steer<>-1):steer=0:searching=searching/2:turbo=freqa>100:ENDPROC
 2040 IF fb$="B" THEN steer=-1:left=TRUE:ENDPROC
 2050 IF fc$="B" THEN steer=1:right=TRUE:ENDPROC
 2060 :
 2070 REM If no ball in sight, continue rotation...
 2080 searching=searching+1:turbo=(searching>5):steer=0
 2090 IF (tending AND 1)<>0 THEN right=TRUE ELSE left=TRUE
 2100 IF searching=5 THEN tending=(tending EOR 1)
 2110 IF searching>50 THEN stage=stage+1
 2120 ENDPROC
 2130 :
 2140 REM Find edge of net and aim for it to move to other side
 2150 DEFPROCmoveout
 2160 REM Watch out if too near to net
 2170 IF (freqa<30 OR freqb<30 OR freqc<30) OR (reving AND (freqa<75 OR freqb<75 OR freqc<75)) THEN reving=TRUE:reverse=TRUE:right=TRUE:left=TRUE:ENDPROC
 2180 reving=FALSE
 2190 REM If ball in sight, go get it!
 2200 IF fa$="B" OR fb$="B" OR fc$="B" THEN stage=stage-1:searching=44:ENDPROC
 2210 REM Align ballbot to face the net post...
 2220 IF fa$="N" OR fa$="P" THEN right=TRUE:ENDPROC
 2230 IF fb$<>"N" AND fb$<>"P" THEN left=TRUE:ENDPROC
 2240 IF fb$="P" AND freqb<150 THEN right=TRUE:near=1:ENDPROC
 2250 turbo=TRUE:left=TRUE:right=TRUE
 2260 ENDPROC
 2270 :
 2280 REM Nearly there... Just need a little nudge in the right direction.
 2290 DEFPROCdonearstuff
 2300 IF freqa<30 AND fa$<>"B" THEN right=TRUE:ENDPROC
 2310 IF near=1 AND fd$<>"U" THEN left=TRUE:right=TRUE:ENDPROC
 2320 near=near+1:left=TRUE:right=(near MOD 2)=1:turbo=TRUE
 2330 IF near>18 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:searching=0:idle=TRUE
 2390 near=FALSE:tending=1:steer=0
 2400 ENDPROC
 2410 :
 2420 DEFPROCreleaseb
 2430 REM Got all the balls, now just dump them!
 2440 near=near+1
 2450 IF near>9 THEN idle=TRUE:near=FALSE
 2460 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$="1" � �user � �compmon
� � idle � � �
� �sense
% mov=�ai(freqa,freqb,freqc,freqd)
 left=(mov � 1)<>0
 right=(mov � 2)<>0
" turbo=(mov � 4)<>0
, on=(mov � 8)<>0
6 reverse=(mov � 16)<>0
@ �moveit
J � � �>(T+15)
T � �
^ :
h � Graphic interface
r ��drawfull
| � Set up constants
� �sx,sy,width
� sx=1:sy=2:width=10
� � Setup Colours
�V �0,0,64,0:�1,255,0,0:�2,255,255,255:�3,255,0,0:�4,255,255,0:�5,0,0,0:�6,255,255,0
� :
� � Draw green court area
� �:�0,0:ȓ Ȑ 0,0,1279,1023
�& � Mark out white lines onto court
֬ �0,2:ȓ Ȑ sx/(23.77+2*sx)*1280,sy/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width:ȓ Ȑ sx/(23.77+2*sx)*1280,(1.37+sy)/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width
� ȓ Ȑ sx/(23.77+2*sx)*1280,(9.6+sy)/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width:ȓ Ȑ sx/(23.77+2*sx)*1280,(10.97+sy)/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width
�_ ȓ Ȑ (sx+5.47)/(23.77+2*sx)*1280,(sy+5.49)/(10.97+2*sy)*1024,12.8/(23.77+2*sx)*1280,width
� ȓ Ȑ sx/(23.77+2*sx)*1280,sy/(10.97+2*sy)*1024,width,10.97/(10.97+2*sy)*1024:ȓ Ȑ (sx+23.77)/(23.77+2*sx)*1280,sy/(10.97+2*sy)*1024,width,10.97/(10.97+2*sy)*1024+width
�� ȓ Ȑ (sx+5.47)/(23.77+2*sx)*1280,(sy+1.37)/(10.97+2*sy)*1024,width,8.23/(10.97+2*sy)*1024:ȓ Ȑ (sx+18.3)/(23.77+2*sx)*1280,(sy+1.37)/(10.97+2*sy)*1024,width,8.23/(10.97+2*sy)*1024
 :
 � Draw net
� �0,5:�l=100�924�10:� 640,l:� 680,l+50:�:�l=0�40�10:� 640+l,100+l:�640+l,924+l:�:�l=0�5:�637+l,100:�677+l,150:�637+l,924:�677+l,974:�
& �0,2:� 682,142:�682,966
0 �drawmini
: �
D :
N � Draw ballbot and balls
X ��drawmini
b � type$="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 � � on � �
>v � ((� reverse) � left � (� right)) � (reverse � right � (� left)) � dir=dir-2.5*(1-3*turbo):speed=0.1+0.2*reverse
Hv � ((� reverse) � right � (� left)) � (reverse � left � (� right)) � dir=dir+2.5*(1-3*turbo):speed=0.1+0.2*reverse
R' � left � right � speed=1+2*reverse
\ :
f) � Get direction in range 0<theta<360
p � � dir<0 � dir=dir+360
z � 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
$S � �(�*min/180)<>0 � dist=(640-bbx)/�(�*min/180):hit=bby+(640-bbx)/�(�*min/180)
.U � �(�*max/180)<>0 � dista=(640-bbx)/�(�*max/180):hita=bby+(640-bbx)/�(�*max/180)
8, � Just check if post in middle of range
Bd � bbx<640 � hit>100 � (hita<100 � dista<0) � dist>0 � hita=100:dista=�((bbx-640)^2+(bby-100)^2)
Lb � bbx<640 � hita<923 � (hit>923 � dist<0) � dista>0 � hit=923:dist=�((bbx-640)^2+(bby-923)^2)
Vb � bbx>640 � hita>100 � (hit<100 � dist<0) � dista>0 � hit=100:dist=�((bbx-640)^2+(bby-100)^2)
`d � bbx>640 � hit<923 � (hita>923 � dista<0) � dist>0 � hita=923:dista=�((bbx-640)^2+(bby-923)^2)
j � Pick best to send off!
tH � dist<0 � (dista<dist � hita>100 � hita<923) � dist=dista:hit=hita
~; � hit>923 � hit<100 � dist<0 � ftype$="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)
 :
( �ball=0�4
24 d%=�((ball(ball,0)-bbx)^2+(ball(ball,1)-bby)^2)
< � ball(ball,0)=0 � d%=9999
F4 a=�angle(ball(ball,0),ball(ball,1),bbx,bby)-dir
P �a>180 � a=a-360
Z �a<=-179 � a=a+360
d, � �(a)<15 � freqa>d% � freqa=d%:fa$="B"
n3 � a>-46 � a<=-15 � freqb>d% � freqb=d%:fb$="B"
x1 � 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$="2" � �
�: �0,0)�((�-start)/6000);":";(�((�-start)/100)�60);" "
� �0,31)fd$,fb$,fa$,fc$;
� �
�:
�$ � 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
6 ��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"
J> � idle � �st$,�((�-start)/6000);":";(�((�-start)/100)�60)
T, � �>start+36000 � idle=�:�"Time","****"
^< �bbx>635�bbx<645�bby>105�bby<920�idle=�:�"Crash","****"
h� � idle � bbx=640:bby=950:dir=270:stage=0:�setupbb:start=�:�b=0�4:ball(b,0)=�(1180):ball(b,1)=�(1024):ball(b,0)=ball(b,0)-100*((ball(b,0) � 100)=6):�
r� � idle � �"[";ball(0,0);",";ball(0,1);"] [";ball(1,0);",";ball(1,1);"] [";ball(2,0);",";ball(2,1);"] [";ball(3,0);",";ball(3,1);"] [";ball(4,0);",";ball(4,1);"]",;:idle=�
| �
� :
�* � BALLBOT ROBOTIC INTELLIGENCE MODULE
� :
�" ݤai(freqa,freqb,freqc,freqd)
�9 � Artificial intelligence routines (ie. What Next??)
� �left,right,turbo,reverse
�% left=�:right=�:turbo=�:reverse=�
� :
�@ � What stage are we in? Hunt for balls or move to new area?
�' � near<>0 � stage<4 � �donearstuff
�+ � near=0 � (stage=0 � stage=2) � �hunt
�. � near=0 � (stage=1 � stage=3) � �moveout
� � stage=4 � �releaseb
 :
2 � Prepare output into binary for transmission
  feed=0:� left � feed=feed+1
& � right � feed=feed+2
0 � turbo � feed=feed+4
: � � idle � feed=feed+8
D � reverse � feed=feed+16
N
 =feed
X :
b( � Perform a sweep to find any balls
l ��hunt
v# � Watch out if too near to net
�v � (fa$<>"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...
 6 searching=searching+1:turbo=(searching>5):steer=0
** � (tending � 1)<>0 � right=� � left=�
4* � searching=5 � tending=(tending � 1)
># � searching>50 � stage=stage+1
H �
R :
\< � Find edge of net and aim for it to move to other side
f ��moveout
p# � Watch out if too near to net
z{ � (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= � Initialise BallBot variables at the beginning of a run
	B ��setupbb
	L/ reving=�:left=�:right=�:searching=0:idle=�
	V near=�:tending=1:steer=0
	` �
	j :
	t ��releaseb
	~- � Got all the balls, now just dump them!
	� near=near+1
	� � 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|
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000000d0  42 61 6c 6c 42 6f 74 20  41 72 74 69 66 69 63 69  |BallBot Artifici|
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00000120  6e 22 27 27 22 50 72 6f  67 72 61 6d 6d 65 64 20  |n"''"Programmed |
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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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000006b0  74 68 0d 01 e0 ae 20 c8  93 20 c8 90 20 73 78 2f  |th.... .. .. sx/|
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00000710  20 73 78 2f 28 32 33 2e  37 37 2b 32 2a 73 78 29  | sx/(23.77+2*sx)|
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000007c0  01 f4 ae 20 c8 93 20 c8  90 20 73 78 2f 28 32 33  |... .. .. sx/(23|
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000007e0  79 2f 28 31 30 2e 39 37  2b 32 2a 73 79 29 2a 31  |y/(10.97+2*sy)*1|
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00000800  28 31 30 2e 39 37 2b 32  2a 73 79 29 2a 31 30 32  |(10.97+2*sy)*102|
00000810  34 3a c8 93 20 c8 90 20  28 73 78 2b 32 33 2e 37  |4:.. .. (sx+23.7|
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00000860  79 29 2a 31 30 32 34 2b  77 69 64 74 68 0d 01 fe  |y)*1024+width...|
00000870  ba 20 c8 93 20 c8 90 20  28 73 78 2b 35 2e 34 37  |. .. .. (sx+5.47|
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000008a0  30 2e 39 37 2b 32 2a 73  79 29 2a 31 30 32 34 2c  |0.97+2*sy)*1024,|
000008b0  77 69 64 74 68 2c 38 2e  32 33 2f 28 31 30 2e 39  |width,8.23/(10.9|
000008c0  37 2b 32 2a 73 79 29 2a  31 30 32 34 3a c8 93 20  |7+2*sy)*1024:.. |
000008d0  c8 90 20 28 73 78 2b 31  38 2e 33 29 2f 28 32 33  |.. (sx+18.3)/(23|
000008e0  2e 37 37 2b 32 2a 73 78  29 2a 31 32 38 30 2c 28  |.77+2*sx)*1280,(|
000008f0  73 79 2b 31 2e 33 37 29  2f 28 31 30 2e 39 37 2b  |sy+1.37)/(10.97+|
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00000910  2c 38 2e 32 33 2f 28 31  30 2e 39 37 2b 32 2a 73  |,8.23/(10.97+2*s|
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00000930  0f 20 f4 20 44 72 61 77  20 6e 65 74 0d 02 1c 89  |. . Draw net....|
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00002400  8c 20 6c 65 66 74 3d b9  3a 72 69 67 68 74 3d b9  |. left=.:right=.|
00002410  3a e1 0d 09 10 32 20 6e  65 61 72 3d 6e 65 61 72  |:....2 near=near|
00002420  2b 31 3a 6c 65 66 74 3d  b9 3a 72 69 67 68 74 3d  |+1:left=.:right=|
00002430  28 6e 65 61 72 20 83 20  32 29 3d 31 3a 74 75 72  |(near . 2)=1:tur|
00002440  62 6f 3d b9 0d 09 1a 3b  20 e7 20 6e 65 61 72 3e  |bo=....; . near>|
00002450  31 38 20 8c 20 6e 65 61  72 3d 30 3a 73 74 61 67  |18 . near=0:stag|
00002460  65 3d 73 74 61 67 65 2b  31 3a 73 65 61 72 63 68  |e=stage+1:search|
00002470  69 6e 67 3d 30 3a 74 65  6e 64 69 6e 67 3d 31 0d  |ing=0:tending=1.|
00002480  09 24 06 20 e1 0d 09 2e  06 20 3a 0d 09 38 3d 20  |.$. ..... :..8= |
00002490  f4 20 49 6e 69 74 69 61  6c 69 73 65 20 42 61 6c  |. Initialise Bal|
000024a0  6c 42 6f 74 20 76 61 72  69 61 62 6c 65 73 20 61  |lBot variables a|
000024b0  74 20 74 68 65 20 62 65  67 69 6e 6e 69 6e 67 20  |t the beginning |
000024c0  6f 66 20 61 20 72 75 6e  0d 09 42 0e 20 dd f2 73  |of a run..B. ..s|
000024d0  65 74 75 70 62 62 0d 09  4c 2f 20 72 65 76 69 6e  |etupbb..L/ revin|
000024e0  67 3d a3 3a 6c 65 66 74  3d a3 3a 72 69 67 68 74  |g=.:left=.:right|
000024f0  3d a3 3a 73 65 61 72 63  68 69 6e 67 3d 30 3a 69  |=.:searching=0:i|
00002500  64 6c 65 3d b9 0d 09 56  1d 20 6e 65 61 72 3d a3  |dle=...V. near=.|
00002510  3a 74 65 6e 64 69 6e 67  3d 31 3a 73 74 65 65 72  |:tending=1:steer|
00002520  3d 30 0d 09 60 06 20 e1  0d 09 6a 06 20 3a 0d 09  |=0..`. ...j. :..|
00002530  74 0f 20 dd f2 72 65 6c  65 61 73 65 62 0d 09 7e  |t. ..releaseb..~|
00002540  2d 20 f4 20 47 6f 74 20  61 6c 6c 20 74 68 65 20  |- . Got all the |
00002550  62 61 6c 6c 73 2c 20 6e  6f 77 20 6a 75 73 74 20  |balls, now just |
00002560  64 75 6d 70 20 74 68 65  6d 21 0d 09 88 10 20 6e  |dump them!.... n|
00002570  65 61 72 3d 6e 65 61 72  2b 31 0d 09 92 1d 20 e7  |ear=near+1.... .|
00002580  20 6e 65 61 72 3e 39 20  8c 20 69 64 6c 65 3d b9  | near>9 . idle=.|
00002590  3a 6e 65 61 72 3d a3 0d  09 9c 06 20 e1 0d ff     |:near=..... ...|
0000259f
BioBot/BBotSim.m0
BioBot/BBotSim.m1
BioBot/BBotSim.m2
BioBot/BBotSim.m4
BioBot/BBotSim.m5

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