� Assemble BallBot AI
% � Module (C) Dominic Ford 1997/8
 :
(1 � Setup variables / allocate zero-page bytes
2) �6:�=&3000:oswrch=&FFEE:osbyte=&FFF4
<M idle=&81:near=&82:searching=&83:left=&84:right=&85:steer=&86:tending=&87
F/ reving=&88:stage=&89:turbo=&8A:reverse=&8B
PH freqa=&70:freqb=&71:freqc=&72:freqd=&73:fa=&74:fb=&75:fc=&76:fd=&77
Z :
d � Start assembly
n �pass=0 � 3 � 3
x :
� � Packaging for module
� P%=&3000:[OPT pass
�6 LDA#&8C:JSRosbyte \ Select tape to make ADFS free
�. LDY#0:.text LDAwelcome,Y:CMP#&FF:BEQunzip
�* JSRoswrch:INY:JMPtext \ Hello World!!
�� .unzip LDA#(start � 256):STA&78:LDA#(start � 256):STA&79:LDY#0:STY&7A:LDA#&E:STA&7B:.movlop LDA(&78),Y:STA(&7A),Y:INY:BNEmovlop:INC&79:INC&7B:LDA&7B:CMP#&18:BNEmovlop:JMP&E00 \ Invade ADFS memory
�- .welcome EQUB 17:EQUB 0:EQUB 17:EQUB 129
�4 EQUS "BallBot AI module 6502 version          "
�4 EQUS "Original   - Dominic Ford Sept-Dec 1997 "
�4 EQUS "Conversion - Dominic Ford Jan 1998      "
�4 EQUB 17:EQUB 1:EQUB 17:EQUB 128:EQUB &FF:.start
� ]
� :

6 � 6502 Artificial Intelligence module for BallBot

 :

  O%=P%:P%=&E00:[OPT (pass+4)

"$ JMPsetupbb:JMPai \ Entry points

,r .setupbb LDA#0:STAreving:STAleft:STAright:STAsearching:STAnear:STAsteer:STAstage:STAidle:LDA#1:STAtending:RTS

63 .ai LDA#0:STAleft:STAright:STAturbo:STAreverse

@F LDAnear:CMP#0:BEQnotnear:LDAstage:CMP#4:BCSnotnear:JSRdonearstuff

JR .notnear LDAnear:BNEnotmov:LDAstage:CMP#1:BEQnothunt:CMP#3:BCSnothunt:JSRhunt

T? .nothunt LDAstage:CMP#4:BCSnotmov:�#1:BEQnotmov:JSRmoveout

^5 .notmov LDAstage:CMP#4:BNEnotrelease:JSRreleaseb

h� .notrelease LDA#0:STA&80:LDAleft:�#1:CLC:ADC&80:STA&80:LDAright:�#2:CLC:ADC&80:STA&80:LDAturbo:�#4:CLC:ADC&80:STA&80:LDAidle:�#8:CLC:ADC&80:STA&80:LDAreverse:�#16:CLC:ADC&80:STA&80:RTS

rI .hunt LDAfreqa:CMP#8:BCSnothr1:LDAfa:CMP#�"B":BEQnothr1:JMPrevershnt

|K .nothr1 LDAfreqb:CMP#4:BCSnothr2:LDAfb:CMP#�"B":BEQnothr2:JMPrevershnt

�> .nothr2 LDAfreqc:CMP#4:BCSnothr3:LDAfc:CMP#�"B":BEQnothr3

�P .revershnt LDA#5:STAreving:LDA#&FF:STAreverse:STAturbo:STAleft:STAright:RTS

�t .nothr3 LDAreving:BEQnothrev:LDAfreqa:CMP#38:BCCconthrev:LDAfreqb:CMP#38:BCCconthrev:LDAfreqc:CMP#38:BCSnothrev

�@ .conthrev DECreving:LDA#&FF:STAturbo:STAleft:STAreverse:RTS

� .nothrev LDA#0:STAreving

�! \ Rotate to face ball (L310)

�L LDAfb:CMP#�"B":BNEnottendl:LDAfreqb:CMP#38:BCCnottendl:LDA#0:STAtending

�` .nottendl LDAfc:CMP#�"B":BNEnottendr:LDAfreqc:CMP#38:BCCnottendr:LDA#1:STAtending:.nottendr

� \Pick best ball to aim at

� LDAfreqa:LSR A:LSR A:STA&80:ASL A:CLC:ADC&80:PHA:CMPfreqb:BCCnothnl:LDAfb:CMP#�"B":BNEnothnl:LDAfc:CMP#�"B":BNEhnl:LDAfreqb:CMPfreqc:BCSnothnl:.hnl LDA#&FF:STAleft:STAsteer:PLA:RTS

� .nothnl PLA:CMPfreqc:BCCnothnr:LDAfc:CMP#�"B":BNEnothnr:LDAfb:CMP#�"B":BNEhnr:LDAfreqc:CMPfreqb:BCSnothnr:.hnr LDA#&FF:STAright:LDA#1:STAsteer:RTS

� .nothnr LDAfa:CMP#�"B":BNEl370:LDX#0:LDAsteer:CMP#1:BEQnofaadd:LDX#&FF:.nofaadd STXleft:LDX#0:CMP#&FF:BEQnofaadd2:LDX#&FF:.nofaadd2 STXright

�u LDA#0:STAsteer:LDAsearching:LSR A:STAsearching:LDX#0:LDAfreqa:CMP#25:BCCnofaadd3:LDX#&FF:.nofaadd3 STX turbo:RTS
> .l370 LDAfb:CMP#�"B":BNEl380:LDA#&FF:STAsteer:STAleft:RTS
K .l380 LDAfc:CMP#�"B":BNEl390:LDA#1:STAsteer:LDA#&FF:STAright:RTS:.l390
- \ If no ball in sight, continue rotation
&� INCsearching:LDA#0:STAsteer:STAturbo:STAsteer:LDAsearching:CMP#6:BCCnotturrot:LDA#&FF:STAturbo:.notturrot LDX#&FF:LDAtending:BEQtend0:STXright:JMPl430:.tend0 STXleft
0? .l430 LDAsearching:CMP#5:BNEl440:LDAtending:�#1:STAtending
:9 .l440 LDAsearching:CMP#50:BCCl450:INCstage:.l450 RTS
D RTS
N :
X� .moveout LDAfreqa:CMP#8:BCCmovonet:LDAfreqb:CMP#8:BCCmovonet:LDAfreqc:CMP#8:BCCmovonet:LDAreving:BEQl510:LDAfreqa:CMP#19:BCCmovonet:LDAfreqb:CMP#19:BCCmovonet:LDAfreqc:CMP#19:BCSl510
b? .movonet LDA#&FF:STAreving:STAreverse:STAleft:STAright:RTS
l� .l510 LDA#0:STAreving:LDAfa:CMP#�"B":BEQgoget:LDAfb:CMP#�"B":BEQgoget:LDAfc:CMP#�"B":BEQgoget:LDAfd:CMP#�"B":BNEl540:.goget DECstage:LDA#44:STAsearching:RTS
vS .l540 LDAfa:CMP#�"N":BEQmovorig:CMP#�"P":BNEl560:.movorig LDA#&FF:STAright:RTS
�F .l560 LDAfb:CMP#�"N":BEQl580:CMP#�"P":BEQl570:LDA#&FF:STAleft:RTS
�E .l570 LDAfreqb:CMP#38:BCSl580:LDA#&FF:STAright:LDA#1:STAnear:RTS
�0 .l580 LDA#&FF:STAturbo:STAleft:STAright:RTS
�T .donearstuff LDAfreqa:CMP#8:BCSl640:LDAfa:CMP#�"B":BEQl640:LDA#&FF:STAright:RTS
�T .l640 LDAnear:CMP#1:BNEl650:LDAfd:CMP#�"U":BEQl650:LDA#&FF:STAleft:STAright:RTS
�X .l650 INCnear:LDA#&FF:STAleft:STAturbo:LDAnear:�#1:BEQnearl:LDA#&FF:.nearl STAright
�` LDAnear:CMP#18:BCCnearend:LDA#0:STAnear:STAsearching:INCstage:LDA#1:STAtending:.nearend RTS
� .releaseb LDA#&FF:STAleft:STAright:STAreverse:STAturbo:INCnear:LDAnear:CMP#10:BCCnearend:LDA#0:STAnear:LDA#&FF:STAidle:RTS
� ]:�
� � "SAVE AI 3000 "+�~O%
�

00000000  0d 00 0a 1a 20 f4 20 41  73 73 65 6d 62 6c 65 20  |.... . Assemble |
00000010  42 61 6c 6c 42 6f 74 20  41 49 0d 00 14 25 20 f4  |BallBot AI...% .|
00000020  20 4d 6f 64 75 6c 65 20  28 43 29 20 44 6f 6d 69  | Module (C) Domi|
00000030  6e 69 63 20 46 6f 72 64  20 31 39 39 37 2f 38 0d  |nic Ford 1997/8.|
00000040  00 1e 06 20 3a 0d 00 28  31 20 f4 20 53 65 74 75  |... :..(1 . Setu|
00000050  70 20 76 61 72 69 61 62  6c 65 73 20 2f 20 61 6c  |p variables / al|
00000060  6c 6f 63 61 74 65 20 7a  65 72 6f 2d 70 61 67 65  |locate zero-page|
00000070  20 62 79 74 65 73 0d 00  32 29 20 eb 36 3a d3 3d  | bytes..2) .6:.=|
00000080  26 33 30 30 30 3a 6f 73  77 72 63 68 3d 26 46 46  |&3000:oswrch=&FF|
00000090  45 45 3a 6f 73 62 79 74  65 3d 26 46 46 46 34 0d  |EE:osbyte=&FFF4.|
000000a0  00 3c 4d 20 69 64 6c 65  3d 26 38 31 3a 6e 65 61  |.<M idle=&81:nea|
000000b0  72 3d 26 38 32 3a 73 65  61 72 63 68 69 6e 67 3d  |r=&82:searching=|
000000c0  26 38 33 3a 6c 65 66 74  3d 26 38 34 3a 72 69 67  |&83:left=&84:rig|
000000d0  68 74 3d 26 38 35 3a 73  74 65 65 72 3d 26 38 36  |ht=&85:steer=&86|
000000e0  3a 74 65 6e 64 69 6e 67  3d 26 38 37 0d 00 46 2f  |:tending=&87..F/|
000000f0  20 72 65 76 69 6e 67 3d  26 38 38 3a 73 74 61 67  | reving=&88:stag|
00000100  65 3d 26 38 39 3a 74 75  72 62 6f 3d 26 38 41 3a  |e=&89:turbo=&8A:|
00000110  72 65 76 65 72 73 65 3d  26 38 42 0d 00 50 48 20  |reverse=&8B..PH |
00000120  66 72 65 71 61 3d 26 37  30 3a 66 72 65 71 62 3d  |freqa=&70:freqb=|
00000130  26 37 31 3a 66 72 65 71  63 3d 26 37 32 3a 66 72  |&71:freqc=&72:fr|
00000140  65 71 64 3d 26 37 33 3a  66 61 3d 26 37 34 3a 66  |eqd=&73:fa=&74:f|
00000150  62 3d 26 37 35 3a 66 63  3d 26 37 36 3a 66 64 3d  |b=&75:fc=&76:fd=|
00000160  26 37 37 0d 00 5a 06 20  3a 0d 00 64 15 20 f4 20  |&77..Z. :..d. . |
00000170  53 74 61 72 74 20 61 73  73 65 6d 62 6c 79 0d 00  |Start assembly..|
00000180  6e 14 20 e3 70 61 73 73  3d 30 20 b8 20 33 20 88  |n. .pass=0 . 3 .|
00000190  20 33 0d 00 78 06 20 3a  0d 00 82 1b 20 f4 20 50  | 3..x. :.... . P|
000001a0  61 63 6b 61 67 69 6e 67  20 66 6f 72 20 6d 6f 64  |ackaging for mod|
000001b0  75 6c 65 0d 00 8c 17 20  50 25 3d 26 33 30 30 30  |ule.... P%=&3000|
000001c0  3a 5b 4f 50 54 20 70 61  73 73 0d 00 96 36 20 4c  |:[OPT pass...6 L|
000001d0  44 41 23 26 38 43 3a 4a  53 52 6f 73 62 79 74 65  |DA#&8C:JSRosbyte|
000001e0  20 5c 20 53 65 6c 65 63  74 20 74 61 70 65 20 74  | \ Select tape t|
000001f0  6f 20 6d 61 6b 65 20 41  44 46 53 20 66 72 65 65  |o make ADFS free|
00000200  0d 00 a0 2e 20 4c 44 59  23 30 3a 2e 74 65 78 74  |.... LDY#0:.text|
00000210  20 4c 44 41 77 65 6c 63  6f 6d 65 2c 59 3a 43 4d  | LDAwelcome,Y:CM|
00000220  50 23 26 46 46 3a 42 45  51 75 6e 7a 69 70 0d 00  |P#&FF:BEQunzip..|
00000230  aa 2a 20 4a 53 52 6f 73  77 72 63 68 3a 49 4e 59  |.* JSRoswrch:INY|
00000240  3a 4a 4d 50 74 65 78 74  20 5c 20 48 65 6c 6c 6f  |:JMPtext \ Hello|
00000250  20 57 6f 72 6c 64 21 21  0d 00 b4 c8 20 2e 75 6e  | World!!.... .un|
00000260  7a 69 70 20 4c 44 41 23  28 73 74 61 72 74 20 83  |zip LDA#(start .|
00000270  20 32 35 36 29 3a 53 54  41 26 37 38 3a 4c 44 41  | 256):STA&78:LDA|
00000280  23 28 73 74 61 72 74 20  81 20 32 35 36 29 3a 53  |#(start . 256):S|
00000290  54 41 26 37 39 3a 4c 44  59 23 30 3a 53 54 59 26  |TA&79:LDY#0:STY&|
000002a0  37 41 3a 4c 44 41 23 26  45 3a 53 54 41 26 37 42  |7A:LDA#&E:STA&7B|
000002b0  3a 2e 6d 6f 76 6c 6f 70  20 4c 44 41 28 26 37 38  |:.movlop LDA(&78|
000002c0  29 2c 59 3a 53 54 41 28  26 37 41 29 2c 59 3a 49  |),Y:STA(&7A),Y:I|
000002d0  4e 59 3a 42 4e 45 6d 6f  76 6c 6f 70 3a 49 4e 43  |NY:BNEmovlop:INC|
000002e0  26 37 39 3a 49 4e 43 26  37 42 3a 4c 44 41 26 37  |&79:INC&7B:LDA&7|
000002f0  42 3a 43 4d 50 23 26 31  38 3a 42 4e 45 6d 6f 76  |B:CMP#&18:BNEmov|
00000300  6c 6f 70 3a 4a 4d 50 26  45 30 30 20 5c 20 49 6e  |lop:JMP&E00 \ In|
00000310  76 61 64 65 20 41 44 46  53 20 6d 65 6d 6f 72 79  |vade ADFS memory|
00000320  0d 00 be 2d 20 2e 77 65  6c 63 6f 6d 65 20 45 51  |...- .welcome EQ|
00000330  55 42 20 31 37 3a 45 51  55 42 20 30 3a 45 51 55  |UB 17:EQUB 0:EQU|
00000340  42 20 31 37 3a 45 51 55  42 20 31 32 39 0d 00 c8  |B 17:EQUB 129...|
00000350  34 20 45 51 55 53 20 22  42 61 6c 6c 42 6f 74 20  |4 EQUS "BallBot |
00000360  41 49 20 6d 6f 64 75 6c  65 20 36 35 30 32 20 76  |AI module 6502 v|
00000370  65 72 73 69 6f 6e 20 20  20 20 20 20 20 20 20 20  |ersion          |
00000380  22 0d 00 d2 34 20 45 51  55 53 20 22 4f 72 69 67  |"...4 EQUS "Orig|
00000390  69 6e 61 6c 20 20 20 2d  20 44 6f 6d 69 6e 69 63  |inal   - Dominic|
000003a0  20 46 6f 72 64 20 53 65  70 74 2d 44 65 63 20 31  | Ford Sept-Dec 1|
000003b0  39 39 37 20 22 0d 00 dc  34 20 45 51 55 53 20 22  |997 "...4 EQUS "|
000003c0  43 6f 6e 76 65 72 73 69  6f 6e 20 2d 20 44 6f 6d  |Conversion - Dom|
000003d0  69 6e 69 63 20 46 6f 72  64 20 4a 61 6e 20 31 39  |inic Ford Jan 19|
000003e0  39 38 20 20 20 20 20 20  22 0d 00 e6 34 20 45 51  |98      "...4 EQ|
000003f0  55 42 20 31 37 3a 45 51  55 42 20 31 3a 45 51 55  |UB 17:EQUB 1:EQU|
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00000420  06 20 5d 0d 00 fa 06 20  3a 0d 01 04 36 20 f4 20  |. ].... :...6 . |
00000430  36 35 30 32 20 41 72 74  69 66 69 63 69 61 6c 20  |6502 Artificial |
00000440  49 6e 74 65 6c 6c 69 67  65 6e 63 65 20 6d 6f 64  |Intelligence mod|
00000450  75 6c 65 20 66 6f 72 20  42 61 6c 6c 42 6f 74 0d  |ule for BallBot.|
00000460  01 0e 06 20 3a 0d 01 18  20 20 4f 25 3d 50 25 3a  |... :...  O%=P%:|
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00000480  73 73 2b 34 29 0d 01 22  24 20 4a 4d 50 73 65 74  |ss+4).."$ JMPset|
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000004a0  72 79 20 70 6f 69 6e 74  73 0d 01 2c 72 20 2e 73  |ry points..,r .s|
000004b0  65 74 75 70 62 62 20 4c  44 41 23 30 3a 53 54 41  |etupbb LDA#0:STA|
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000004e0  68 69 6e 67 3a 53 54 41  6e 65 61 72 3a 53 54 41  |hing:STAnear:STA|
000004f0  73 74 65 65 72 3a 53 54  41 73 74 61 67 65 3a 53  |steer:STAstage:S|
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00000510  74 65 6e 64 69 6e 67 3a  52 54 53 0d 01 36 33 20  |tending:RTS..63 |
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00000540  72 62 6f 3a 53 54 41 72  65 76 65 72 73 65 0d 01  |rbo:STAreverse..|
00000550  40 46 20 4c 44 41 6e 65  61 72 3a 43 4d 50 23 30  |@F LDAnear:CMP#0|
00000560  3a 42 45 51 6e 6f 74 6e  65 61 72 3a 4c 44 41 73  |:BEQnotnear:LDAs|
00000570  74 61 67 65 3a 43 4d 50  23 34 3a 42 43 53 6e 6f  |tage:CMP#4:BCSno|
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000005c0  23 31 3a 42 45 51 6e 6f  74 68 75 6e 74 3a 43 4d  |#1:BEQnothunt:CM|
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000005f0  75 6e 74 20 4c 44 41 73  74 61 67 65 3a 43 4d 50  |unt LDAstage:CMP|
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00000660  6e 6f 74 72 65 6c 65 61  73 65 20 4c 44 41 23 30  |notrelease LDA#0|
00000670  3a 53 54 41 26 38 30 3a  4c 44 41 6c 65 66 74 3a  |:STA&80:LDAleft:|
00000680  80 23 31 3a 43 4c 43 3a  41 44 43 26 38 30 3a 53  |.#1:CLC:ADC&80:S|
00000690  54 41 26 38 30 3a 4c 44  41 72 69 67 68 74 3a 80  |TA&80:LDAright:.|
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00000740  3a 43 4d 50 23 97 22 42  22 3a 42 45 51 6e 6f 74  |:CMP#."B":BEQnot|
00000750  68 72 31 3a 4a 4d 50 72  65 76 65 72 73 68 6e 74  |hr1:JMPrevershnt|
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00000780  6f 74 68 72 32 3a 4c 44  41 66 62 3a 43 4d 50 23  |othr2:LDAfb:CMP#|
00000790  97 22 42 22 3a 42 45 51  6e 6f 74 68 72 32 3a 4a  |."B":BEQnothr2:J|
000007a0  4d 50 72 65 76 65 72 73  68 6e 74 0d 01 86 3e 20  |MPrevershnt...> |
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000007c0  3a 43 4d 50 23 34 3a 42  43 53 6e 6f 74 68 72 33  |:CMP#4:BCSnothr3|
000007d0  3a 4c 44 41 66 63 3a 43  4d 50 23 97 22 42 22 3a  |:LDAfc:CMP#."B":|
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00000800  54 41 72 65 76 69 6e 67  3a 4c 44 41 23 26 46 46  |TAreving:LDA#&FF|
00000810  3a 53 54 41 72 65 76 65  72 73 65 3a 53 54 41 74  |:STAreverse:STAt|
00000820  75 72 62 6f 3a 53 54 41  6c 65 66 74 3a 53 54 41  |urbo:STAleft:STA|
00000830  72 69 67 68 74 3a 52 54  53 0d 01 9a 74 20 2e 6e  |right:RTS...t .n|
00000840  6f 74 68 72 33 20 4c 44  41 72 65 76 69 6e 67 3a  |othr3 LDAreving:|
00000850  42 45 51 6e 6f 74 68 72  65 76 3a 4c 44 41 66 72  |BEQnothrev:LDAfr|
00000860  65 71 61 3a 43 4d 50 23  33 38 3a 42 43 43 63 6f  |eqa:CMP#38:BCCco|
00000870  6e 74 68 72 65 76 3a 4c  44 41 66 72 65 71 62 3a  |nthrev:LDAfreqb:|
00000880  43 4d 50 23 33 38 3a 42  43 43 63 6f 6e 74 68 72  |CMP#38:BCCconthr|
00000890  65 76 3a 4c 44 41 66 72  65 71 63 3a 43 4d 50 23  |ev:LDAfreqc:CMP#|
000008a0  33 38 3a 42 43 53 6e 6f  74 68 72 65 76 0d 01 a4  |38:BCSnothrev...|
000008b0  40 20 2e 63 6f 6e 74 68  72 65 76 20 44 45 43 72  |@ .conthrev DECr|
000008c0  65 76 69 6e 67 3a 4c 44  41 23 26 46 46 3a 53 54  |eving:LDA#&FF:ST|
000008d0  41 74 75 72 62 6f 3a 53  54 41 6c 65 66 74 3a 53  |Aturbo:STAleft:S|
000008e0  54 41 72 65 76 65 72 73  65 3a 52 54 53 0d 01 ae  |TAreverse:RTS...|
000008f0  1d 20 2e 6e 6f 74 68 72  65 76 20 4c 44 41 23 30  |. .nothrev LDA#0|
00000900  3a 53 54 41 72 65 76 69  6e 67 0d 01 b8 21 20 5c  |:STAreving...! \|
00000910  20 52 6f 74 61 74 65 20  74 6f 20 66 61 63 65 20  | Rotate to face |
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