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BioBot/BBNew2

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 hard disk » files » BallBot
Filename: BioBot/BBNew2
Read OK: ✔
File size: 24FD bytes
Load address: 0000
Exec address: 0000
Duplicates

There are 2 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$="3"
   90 :
  100 REM Setup variables
  110 ON ERROR OSCLI"CLOSE":REPORT:PRINT" at line ";ERL:END
  120 VOICE 1,"StringLib-Soft":*STEREO 1 0
  130 VOICE 2,"StringLib-Soft":*STEREO 2 -127
  140 VOICE 3,"StringLib-Soft":*STEREO 3 127
  150 current=0:DIMball(4,1):bbx=640:bby=950:dir=270:PROCsetupbb
  160 MODE12:IF type$="1" THEN MOUSE ON:PROCdrawfull
  170 IF type$="2" THEN start=TIME:stage=0:idle=FALSE:INPUT"Filename";f$:OSCLI"SPOOL "+f$
  180 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
  190 :
  200 REM Start main loop
  210 REPEAT:T=TIME
  220 IF type$="1" THEN PROCuser ELSE PROCcompmon
  230 IF idle THEN UNTIL FALSE
  240 PROCsense
  250 mov=FNai(freqa,freqb,freqc)
  260 fwd=(mov AND 1)<>0
  270 reverse=(mov AND 2)<>0
  280 left=(mov AND 4)<>0
  290 right=(mov AND 8)<>0
  300 turbo=(mov AND 16)<>0
  310 open=(mov AND 32)<>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 IF (left AND fwd) OR (right AND reverse) THEN dir=dir-2.5*(1-3*turbo)
  820 IF (right AND fwd) OR (left AND reverse) THEN dir=dir+2.5*(1-3*turbo)
  830 :
  840 REM Get direction in range 0<theta<360
  850 REPEAT IF dir<0 THEN dir=dir+360
  860 IF dir>=360 THEN dir=dir-360
  870 UNTIL dir>=0 AND dir<360
  880 :
  890 fr=0:IF fwd THEN fr=fr+0.25
  900 IF reverse THEN fr=fr-0.25
  910 IF turbo THEN fr=fr*4
  920 PROCdrawmini:bbx=bbx+16*SIN(PI*dir/180)*fr
  930 bby=bby+16*COS(PI*dir/180)*fr
  940 FORball=0TO4:IF open AND 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 IF min<0 THEN min=min+360 ELSE IF min>360 THEN min=min-360
 1010 IF max<0 THEN max=max+360 ELSE IF max>360 THEN max=max-360
 1020 LOCAL hit,dist:hit=0:dist=0
 1030 IF (bbx<640 AND (min<=90 AND max>=90 AND min<max)OR(max<=90 AND min>=90 AND max<min)) OR (bbx>640 AND (min<=270 AND max>=270 AND min<max)OR(max<=270 AND min>=270 AND max<min)) THEN hit=bby:dist=ABS(bbx-640)
 1040 IF hit=0 AND ABS((min+180*(bbx>640))-90)<ABS((max+180*(bbx>640))-90) AND SIN(PI*min/180)<>0 THEN dist=(640-bbx)/SIN(PI*min/180):hit=(640-bbx)/TAN(PI*min/180)+bby
 1050 IF hit=0 AND ABS((min+180*(bbx>640))-90)>ABS((max+180*(bbx>640))-90) AND SIN(PI*min/180)<>0 THEN dist=(640-bbx)/SIN(PI*max/180):hit=(640-bbx)/TAN(PI*max/180)+bby
 1060 IF hit>923 OR hit<100 OR dist<0 THEN ftype$="U":=freq+RND(6)-3
 1070 IF hit>900 OR hit<123 THEN ftype$="P":=dist
 1080 ftype$="N"
 1090 =dist
 1100 :
 1110 REM Calculate Ballbot's readings (MAIN ROUTINE)
 1120 :
 1130 DEFPROCsense
 1140 REM Get background readings from FNback
 1150 freq=RND(250)+1500
 1160 freqa=FNback(freq,dir-15,dir+15):fa$=ftype$
 1170 freqb=FNback(freq,dir-45,dir-15):fb$=ftype$
 1180 freqc=FNback(freq,dir+15,dir+45):fc$=ftype$
 1190 freqd=FNback(freq,dir-90,dir-45):fd$=ftype$
 1200 :
 1210 REM Add any relevant balls to readings (using hairy trigonometry)
 1220 :
 1230 FORball=0TO4
 1240 d%=SQR((ball(ball,0)-bbx)^2+(ball(ball,1)-bby)^2)
 1250 IF ball(ball,0)=0 THEN d%=9999
 1260 a=FNangle(ball(ball,0),ball(ball,1),bbx,bby)-dir:IFa>180 THEN a=a-360
 1270 IF ABS(a)<15 AND freqa>d% THEN freqa=d%:fa$="B"
 1280 IF a>-46 AND a<=-15 AND freqb>d% THEN freqb=d%:fb$="B"
 1290 IF a>=15 AND a<46 AND freqc>d% THEN freqc=d%:fc$="B"
 1300 IF a>-90 AND a<=-46 AND freqd>d% THEN freqd=d%:fd$="B"
 1310 NEXT
 1320 :
 1330 REM Update user displays
 1340 :
 1350 IF type$="2" THEN ENDPROC
 1360 PRINTTAB(0,0)INT((TIME-start)/6000);":";(INT((TIME-start)/100)MOD60);" "
 1370 PRINTTAB(0,31)fd$,fb$,fa$,fc$,stage,INT(searching),left,right,opencter;
 1380 SOUND 1,-1,freqa/4,5:SOUND 2,-1,freqb/4,5:SOUND 3,-1,freqc/4,5
 1390 ENDPROC
 1400:
 1410 REM Calculate bearing of B from A
 1420 DEFFNangle(x1,y1,x2,y2)
 1430 IF y2=y1 THEN ang=90 ELSE ang=180*ATN((x2-x1)/(y2-y1))/PI
 1440 IF (y2>y1) THEN ang=ang+180
 1450 IF ang<0 THEN ang=ang+360
 1460 =ang MOD 360
 1470 :
 1480 REM Computer Monitor of BallBot's progress
 1490 DEFPROCcompmon
 1500 IF idle AND (ball(0,0)<>0 OR ball(1,0)<>0 OR ball(2,0)<>0 OR ball(3,0)<>0 OR ball(4,0)<>0) THEN st$="Fail" ELSE st$="Pass"
 1510 IF idle THEN PRINTst$,INT((TIME-start)/6000);":";(INT((TIME-start)/100)MOD60)
 1520 IF TIME>start+36000 THEN idle=TRUE:PRINT"Time","****"
 1530 IFbbx>630ANDbbx<650ANDbby>100ANDbby<923THENidle=TRUE:PRINT"Crash","****"
 1540 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
 1550 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
 1560 ENDPROC
 1570 :
 1580 REM BALLBOT ROBOTIC INTELLIGENCE MODULE
 1590 :
 1600 DEFFNai(freqa,freqb,freqc)
 1610 REM Artificial intelligence routines (ie. What Next??)
 1620 LOCALfwd,reverse,left,right,turbo
 1630 fwd=TRUE:reverse=FALSE:left=FALSE:right=FALSE:turbo=FALSE
 1640 :
 1650 REM What stage are we in? Hunt for balls or move to new area?
 1660 IF near<>0 AND stage<8 THEN PROCdonearstuff
 1670 IF near=0 AND (stage=0 OR stage=2) THEN PROChunt
 1680 IF near=0 AND (stage=1 OR stage=3) THEN PROCmoveout
 1690 IF stage=4 THEN PROCreleaseb
 1700 :
 1710 REM Prepare output into binary for transmission
 1720 feed=0:IF fwd THEN feed=feed+1
 1730 IF reving THEN turbo=TRUE
 1740 IF reverse THEN feed=feed+2
 1750 IF left THEN feed=feed+4
 1760 IF right THEN feed=feed+8
 1770 IF turbo THEN feed=feed+16
 1780 IF opencter>0 THEN feed=feed+32
 1790 =feed
 1800 :
 1810 REM Perform a sweep to find any balls
 1820 DEFPROChunt
 1830 REM Watch out if too near to net
 1840 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=FALSE:ENDPROC
 1850 reving=FALSE
 1860 :
 1870 REM If Ball is out of reach in the "D" sector, reverse!
 1880 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
 1890 IF farleft>0 THEN
 1900  farleft=farleft-1:reverse=TRUE:fwd=FALSE:right=TRUE:turbo=TRUE
 1910  IF fa$="B" OR (fd$<>"B" AND fb$<>"B") THEN farleft=0
 1920  ENDPROC
 1930 ENDIF
 1940 :
 1950 REM Rotate to face ball
 1960 IF (fb$="B" AND freqb>150) OR (fd$="B" AND freqd>150) THEN tending=0
 1970 IF fc$="B" AND freqc>150 THEN tending=1
 1980 IF opencter>0 THEN opencter=opencter-1:ENDPROC
 1990 opencter=-5*(((freqa<20)ANDfa$="B")OR((freqb<20)ANDfb$="B")OR((freqc<20)ANDfc$="B")OR((freqd<20)ANDfd$="B"))
 2000 IF fa$="B" THEN left=(steer=-1):right=(steer=1):steer=0:searching=searching/2:turbo=freqa>100:ENDPROC
 2010 IF fb$="B" OR fd$="B" THEN steer=-1:left=TRUE:ENDPROC
 2020 IF fc$="B" THEN steer=1:right=TRUE:ENDPROC
 2030 REM If no ball in sight, continue rotation...
 2040 align=FALSE:searching=searching+1
 2050 IF (tending AND 1)<>0 THEN right=TRUE ELSE left=TRUE
 2060 IF searching=5 THEN tending=(tending EOR 1)
 2070 IF searching>150 THEN stage=stage+1
 2080 ENDPROC
 2090 :
 2100 REM Find edge of net and aim for it to move to other side
 2110 DEFPROCmoveout
 2120 REM Watch out if too near to net
 2130 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
 2140 reving=FALSE
 2150 REM Align ballbot to face the net post...
 2160 IF fa$="N" OR fa$="P" THEN right=TRUE:ENDPROC
 2170 IF fb$<>"N" AND fb$<>"P" THEN left=TRUE:ENDPROC
 2180 IF fb$="P" AND freqb<150 THEN right=TRUE:near=1:ENDPROC
 2190 turbo=TRUE
 2200 ENDPROC
 2210 :
 2220 REM Nearly there... Just need a little nudge in the right direction.
 2230 DEFPROCdonearstuff
 2240 near=near+1
 2250 IF near<16 THEN right=TRUE:ENDPROC
 2260 left=TRUE
 2270 IF near>32 THEN near=0:stage=stage+1:searching=0:tending=1
 2280 ENDPROC
 2290 :
 2300 REM Initialise BallBot variables at the beginning of a run
 2310 DEFPROCsetupbb
 2320 reving=FALSE:left=FALSE:right=FALSE:fwd=FALSE:reverse=FALSE:searching=0:idle=TRUE
 2330 near=FALSE:farleft=0:opencter=0:tending=1:steer=0
 2340 ENDPROC
 2350 :
 2360 DEFPROCreleaseb
 2370 REM Got all the balls, now just dump them!
 2380 near=near+1:reverse=TRUE:fwd=FALSE
 2390 IF near>9 THEN idle=TRUE:near=FALSE
 2400 ENDPROC
 2410 REPEAT:FORX=1TO12:OSCLI"CHANNELVOICE 1 "+STR$X:SOUND1,-10,52,100:FORR=0TO10000:NEXT,:UNTIL FALSE
 2420 :
 2430 REM Whizz-back to line up with D - what if whizz back into net?
 2440 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
n$ � � �"CLOSE":�:�" at line ";�:�
x& 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$="1" � �user � �compmon
� � idle � � �
� �sense
� mov=�ai(freqa,freqb,freqc)
 fwd=(mov � 1)<>0
 reverse=(mov � 2)<>0
 left=(mov � 4)<>0
" right=(mov � 8)<>0
, turbo=(mov � 16)<>0
6 open=(mov � 32)<>0
@ �moveit
J � � �>(T+15)
T � �
^ :
h � Graphic interface
r ��drawfull
| � Set up constants
� �sx,sy,width
� sx=1:sy=2:width=10
� � Setup Colours
�V �0,0,64,0:�1,255,0,0:�2,255,255,255:�3,255,0,0:�4,255,255,0:�5,0,0,0:�6,255,255,0
� :
� � Draw green court area
� �:�0,0:ȓ Ȑ 0,0,1279,1023
�& � Mark out white lines onto court
֬ �0,2:ȓ Ȑ sx/(23.77+2*sx)*1280,sy/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width:ȓ Ȑ sx/(23.77+2*sx)*1280,(1.37+sy)/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width
� ȓ Ȑ sx/(23.77+2*sx)*1280,(9.6+sy)/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width:ȓ Ȑ sx/(23.77+2*sx)*1280,(10.97+sy)/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width
�_ ȓ Ȑ (sx+5.47)/(23.77+2*sx)*1280,(sy+5.49)/(10.97+2*sy)*1024,12.8/(23.77+2*sx)*1280,width
� ȓ Ȑ sx/(23.77+2*sx)*1280,sy/(10.97+2*sy)*1024,width,10.97/(10.97+2*sy)*1024:ȓ Ȑ (sx+23.77)/(23.77+2*sx)*1280,sy/(10.97+2*sy)*1024,width,10.97/(10.97+2*sy)*1024+width
�� ȓ Ȑ (sx+5.47)/(23.77+2*sx)*1280,(sy+1.37)/(10.97+2*sy)*1024,width,8.23/(10.97+2*sy)*1024:ȓ Ȑ (sx+18.3)/(23.77+2*sx)*1280,(sy+1.37)/(10.97+2*sy)*1024,width,8.23/(10.97+2*sy)*1024
 :
 � Draw net
� �0,5:�l=100�924�10:� 640,l:� 680,l+50:�:�l=0�40�10:� 640+l,100+l:�640+l,924+l:�:�l=0�5:�637+l,100:�677+l,150:�637+l,924:�677+l,974:�
& �0,2:� 682,142:�682,966
0 �drawmini
: �
D :
N � Draw ballbot and balls
X ��drawmini
b � type$="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
*A � (left � fwd) � (right � reverse) � dir=dir-2.5*(1-3*turbo)
4A � (right � fwd) � (left � reverse) � dir=dir+2.5*(1-3*turbo)
> :
H) � Get direction in range 0<theta<360
R � � dir<0 � dir=dir+360
\ � dir>=360 � dir=dir-360
f � dir>=0 � dir<360
p :
z fr=0:� fwd � fr=fr+0.25
� � reverse � fr=fr-0.25
� � turbo � fr=fr*4
�) �drawmini:bbx=bbx+16*�(�*dir/180)*fr
� bby=bby+16*�(�*dir/180)*fr
�X �ball=0�4:� open � �(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)
�4 � min<0 � min=min+360 � � min>360 � min=min-360
�4 � max<0 � max=max+360 � � max>360 � max=max-360
� � hit,dist:hit=0:dist=0
� � (bbx<640 � (min<=90 � max>=90 � min<max)�(max<=90 � min>=90 � max<min)) � (bbx>640 � (min<=270 � max>=270 � min<max)�(max<=270 � min>=270 � max<min)) � hit=bby:dist=�(bbx-640)
� � hit=0 � �((min+180*(bbx>640))-90)<�((max+180*(bbx>640))-90) � �(�*min/180)<>0 � dist=(640-bbx)/�(�*min/180):hit=(640-bbx)/�(�*min/180)+bby
� � hit=0 � �((min+180*(bbx>640))-90)>�((max+180*(bbx>640))-90) � �(�*min/180)<>0 � dist=(640-bbx)/�(�*max/180):hit=(640-bbx)/�(�*max/180)+bby
$; � hit>923 � hit<100 � dist<0 � ftype$="U":=freq+�(6)-3
.+ � hit>900 � hit<123 � ftype$="P":=dist
8 ftype$="N"
B
 =dist
L :
V2 � Calculate Ballbot's readings (MAIN ROUTINE)
` :
j ��sense
t* � 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-90,dir-45):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
�E a=�angle(ball(ball,0),ball(ball,1),bbx,bby)-dir:�a>180 � a=a-360
�, � �(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$="B"
3 � a>-90 � a<=-46 � freqd>d% � freqd=d%:fd$="B"
 �
( :
2 � Update user displays
< :
F � type$="2" � �
P: �0,0)�((�-start)/6000);":";(�((�-start)/100)�60);" "
ZC �0,31)fd$,fb$,fa$,fc$,stage,�(searching),left,right,opencter;
d7 � 1,-1,freqa/4,5:� 2,-1,freqb/4,5:� 3,-1,freqc/4,5
n �
x:
�$ � 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$,�((�-start)/6000);":";(�((�-start)/100)�60)
�, � �>start+36000 � idle=�:�"Time","****"
�< �bbx>630�bbx<650�bby>100�bby<923�idle=�:�"Crash","****"
k � idle � bbx=640:bby=950:dir=270:stage=0:�setupbb:start=�:�b=0�4:ball(b,0)=�(1280):ball(b,1)=�(1024):�
� � idle � �"[";ball(0,0);",";ball(0,1);"] [";ball(1,0);",";ball(1,1);"] [";ball(2,0);",";ball(2,1);"] [";ball(3,0);",";ball(3,1);"] [";ball(4,0);",";ball(4,1);"]",;:idle=�
 �
" :
,* � BALLBOT ROBOTIC INTELLIGENCE MODULE
6 :
@ ݤai(freqa,freqb,freqc)
J9 � Artificial intelligence routines (ie. What Next??)
T" �fwd,reverse,left,right,turbo
^+ fwd=�:reverse=�:left=�:right=�:turbo=�
h :
r@ � What stage are we in? Hunt for balls or move to new area?
|' � near<>0 � stage<8 � �donearstuff
�+ � near=0 � (stage=0 � stage=2) � �hunt
�. � near=0 � (stage=1 � stage=3) � �moveout
� � stage=4 � �releaseb
� :
�2 � Prepare output into binary for transmission
� feed=0:� fwd � feed=feed+1
� � reving � turbo=�
� � reverse � feed=feed+2
� � left � feed=feed+4
� � right � feed=feed+8
� � turbo � feed=feed+16
�  � opencter>0 � feed=feed+32
�
 =feed
 :
( � Perform a sweep to find any balls
 ��hunt
&# � Watch out if too near to net
0� �((freqa<20� fa$<>"B")�(freqb<20� fb$<>"B")�(freqc<20� fc$<>"B"))�(reving �((freqa<150� fa$<>"B")�(freqb<150� fb$<>"B")�(freqc<150� fc$<>"B")))�reving=�:reverse=�:fwd=�:left=�:right=�:�
:
 reving=�
D :
N: � If Ball is out of reach in the "D" sector, reverse!
X� FDR=freqd*1.25:�freqd<150�fd$="B"�FDR<freqa �FDR<freqb �FDR<freqc �(fa$<>"B"�freqa>100)�(fb$<>"B"�freqb>100)�(fc$<>"B"�freqc>100)� turbo=�:reverse=�:fwd=�:right=�:farleft=-6*(freqd>40):�
b � farleft>0 �
l7  farleft=farleft-1:reverse=�:fwd=�:right=�:turbo=�
v3  � fa$="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)
$ � searching>150 � stage=stage+1
  �
* :
4< � Find edge of net and aim for it to move to other side
> ��moveout
H# � Watch out if too near to net
R� � (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):�
\
 reving=�
f, � Align ballbot to face the net post...
p$ � fa$="N" � fa$="P" � right=�:�
z% � 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<16 � right=�:�
� left=�
�; � near>32 � near=0:stage=stage+1:searching=0:tending=1
� �
� :
�= � Initialise BallBot variables at the beginning of a run
	 ��setupbb
	? reving=�:left=�:right=�:fwd=�:reverse=�:searching=0:idle=�
	2 near=�:farleft=0:opencter=0:tending=1:steer=0
	$ �
	. :
	8 ��releaseb
	B- � Got all the balls, now just dump them!
	L  near=near+1:reverse=�:fwd=�
	V � near>9 � idle=�:near=�
	` �
	jD �:�X=1�12:�"CHANNELVOICE 1 "+�X:�1,-10,52,100:�R=0�10000:�,:� �
	t :
	~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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000023d0  20 61 6c 6c 20 74 68 65  20 62 61 6c 6c 73 2c 20  | all the balls, |
000023e0  6e 6f 77 20 6a 75 73 74  20 64 75 6d 70 20 74 68  |now just dump th|
000023f0  65 6d 21 0d 09 4c 20 20  6e 65 61 72 3d 6e 65 61  |em!..L  near=nea|
00002400  72 2b 31 3a 72 65 76 65  72 73 65 3d b9 3a 66 77  |r+1:reverse=.:fw|
00002410  64 3d a3 0d 09 56 1d 20  e7 20 6e 65 61 72 3e 39  |d=...V. . near>9|
00002420  20 8c 20 69 64 6c 65 3d  b9 3a 6e 65 61 72 3d a3  | . idle=.:near=.|
00002430  0d 09 60 06 20 e1 0d 09  6a 44 20 f5 3a e3 58 3d  |..`. ...jD .:.X=|
00002440  31 b8 31 32 3a ff 22 43  48 41 4e 4e 45 4c 56 4f  |1.12:."CHANNELVO|
00002450  49 43 45 20 31 20 22 2b  c3 58 3a d4 31 2c 2d 31  |ICE 1 "+.X:.1,-1|
00002460  30 2c 35 32 2c 31 30 30  3a e3 52 3d 30 b8 31 30  |0,52,100:.R=0.10|
00002470  30 30 30 3a ed 2c 3a fd  20 a3 0d 09 74 06 20 3a  |000:.,:. ...t. :|
00002480  0d 09 7e 42 20 f4 20 57  68 69 7a 7a 2d 62 61 63  |..~B . Whizz-bac|
00002490  6b 20 74 6f 20 6c 69 6e  65 20 75 70 20 77 69 74  |k to line up wit|
000024a0  68 20 44 20 2d 20 77 68  61 74 20 69 66 20 77 68  |h D - what if wh|
000024b0  69 7a 7a 20 62 61 63 6b  20 69 6e 74 6f 20 6e 65  |izz back into ne|
000024c0  74 3f 0d 09 88 39 20 f4  20 52 65 76 65 72 73 65  |t?...9 . Reverse|
000024d0  20 69 66 20 42 61 6c 6c  42 6f 74 20 6b 6e 6f 77  | if BallBot know|
000024e0  73 20 74 68 61 74 20 62  61 6c 6c 73 20 61 72 65  |s that balls are|
000024f0  20 62 65 68 69 6e 64 20  69 74 2e 0d ff           | behind it...|
000024fd

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