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BioBot/BBReal4

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 » Archimedes » Files.ADF
Filename: BioBot/BBReal4
Read OK: ✔
File size: 218E bytes
Load address: FFFFFB45
Exec address: BF80B617
Duplicates

There are 2 duplicate copies of this file in the archive:

File contents
   10 REM BallBot V2.0
   20 REM Real-Time Version
   30 REM (C) Dominic Ford 1997
   40 :
   50 REM Welcome screen
   60 MODE6:PRINT" BallBot Artificial Intelligence Module"'"Simulation Tester V2.0 Real Time Version"''"Programmed and Designed by Dominic Ford"''SPC(16);"(C) 1997"
   70 PRINT'''"Press <SPACE>"
   80 REPEAT UNTIL INKEY(-99)
   90 :
  100 REM Setup variables
  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:MOUSE ON:PROCdrawfull
  160 :
  170 REM Start main loop
  180 REPEAT:T=TIME
  190 PROCuser
  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 REM 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 GCOL3,%001011:FORb=0TO4
  560 IF ball(b,0)<>0 OR ball(b,1)<>0 THEN RECTANGLE FILL ball(b,0),ball(b,1),5,5
  570 NEXT
  580 GCOL3,%000111:RECTANGLE FILL bbx,bby,5,5
  590 ENDPROC
  600 :
  610 REM User interface (putting balls down)
  620 DEFPROCuser
  630 MOUSE x,y,c
  640 IF c=0 THEN ENDPROC
  650 IF (c AND 4)<>0 THEN PROCdrawmini:ball(current,0)=x:ball(current,1)=y:current=(current+1)MOD5:PROCdrawmini
  660 IF (c AND 2)<>0 THEN idle=FALSE:stage=0:start=TIME
  670 REPEAT
  680 MOUSE x,y,c
  690 UNTIL c=0
  700 ENDPROC
  710 :
  720 REM Calculate ballbot's new position
  730 DEFPROCmoveit
  740 IF (left AND fwd) OR (right AND reverse) THEN dir=dir-2.5*(1-3*turbo)
  750 IF (right AND fwd) OR (left AND reverse) THEN dir=dir+2.5*(1-3*turbo)
  760 :
  770 REM Get direction in range 0<theta<360
  780 REPEAT IF dir<0 THEN dir=dir+360
  790 IF dir>=360 THEN dir=dir-360
  800 UNTIL dir>=0 AND dir<360
  810 :
  820 fr=0:IF fwd THEN fr=fr+0.25
  830 IF reverse THEN fr=fr-0.25
  840 IF turbo THEN fr=fr*4
  850 PROCdrawmini:bbx=bbx+16*SIN(PI*dir/180)*fr
  860 bby=bby+16*COS(PI*dir/180)*fr
  870 FORball=0TO4:IF open AND ABS(bbx-ball(ball,0))<10 AND ABS(bby-ball(ball,1))<10 THEN ball(ball,0)=0
  880 NEXT:PROCdrawmini
  890 ENDPROC
  900 :
  910 REM Calculate ballbot's background echo reading (-balls), using several points to check out where net posts are.
  920 DEFFNback(x,y,freq)
  930 LOCAL freqa,dummy
  940 freqa=FNback2(x,y,freq,100,923):ftype$=ft$
  950 IF ft$="U" THEN =freqa
  960 dummy=FNback2(x,y,freq,100,125):IF ft$="N" AND dummy<=freqa THEN ftype$="P"
  970 dummy=FNback2(x,y,freq,898,923):IF ft$="N" AND dummy<=freqa THEN ftype$="P"
  980 =freqa
  990 :
 1000 REM Calculate reading from one point
 1010 DEFFNback2(x,y,freq,min,max)
 1020 ft$="U":REM Set up general value of frequency type (UNIDENTIFIED)
 1030 REM Calculate Angle of net as seen by Ballbot
 1040 LOCAL freqa
 1050 netlow=(FNangle(640,max,x,y)-dir) MOD 360
 1060 IF netlow<0 THEN netlow=netlow+360
 1070 IF netlow>180 THEN netlow=netlow-360
 1080 nethi=(FNangle(640,min,x,y)-dir) MOD 360
 1090 IF nethi<0 THEN nethi=nethi+360
 1100 IF nethi>180 THEN nethi=nethi-360
 1110 :
 1120 REM Calculate reading
 1130 freqa=freq+RND(6)-3
 1140 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$="N"
 1150 =freqa
 1160 :
 1170 REM Calculate Ballbot's readings (MAIN ROUTINE)
 1180 :
 1190 DEFPROCsense
 1200 REM Get background readings from FNback
 1210 freq=RND(250)+1500
 1220 freqa=FNback(bbx,bby,freq):fa$=ftype$
 1230 dir=dir-30:freqb=FNback(bbx,bby,freq):fb$=ftype$
 1240 dir=dir+60:freqc=FNback(bbx,bby,freq):fc$=ftype$
 1250 dir=dir-105:freqd=FNback(bbx,bby,freq):dir=dir+75:fd$=ftype$
 1260 :
 1270 REM Add any relevant balls to readings (using hairy trigonometry)
 1280 :
 1290 FORball=0TO4
 1300 d%=SQR((ball(ball,0)-bbx)^2+(ball(ball,1)-bby)^2)
 1310 IF ball(ball,0)=0 THEN d%=9999
 1320 a=FNangle(ball(ball,0),ball(ball,1),bbx,bby)-dir
 1330 IF ABS(a)<15 AND freqa>d% THEN freqa=d%:fa$="B"
 1340 IF a>-46 AND a<=-15 AND freqb>d% THEN freqb=d%:fb$="B"
 1350 IF a>=15 AND a<46 AND freqc>d% THEN freqc=d%:fc$="B"
 1360 IF a>-90 AND a<=-46 AND freqd>d% THEN freqd=d%:fd$="B"
 1370 NEXT
 1380 :
 1390 REM Update user displays
 1400 :
 1410 PRINTTAB(0,0)INT((TIME-start)/12000);":";(INT((TIME-start)/200)MOD60);" "
 1420 PRINTTAB(0,31)fd$,fb$,fa$,fc$,stage,INT(searching),left,right;
 1430 SOUND 1,-1,freqa/4,5:SOUND 2,-1,freqb/4,5:SOUND 3,-1,freqc/4,5
 1440 ENDPROC
 1450:
 1460 REM Calculate bearing of B from A
 1470 DEFFNangle(x1,y1,x2,y2)
 1480 IF y2=y1 THEN ang=90 ELSE ang=180*ATN((x2-x1)/(y2-y1))/PI
 1490 IF (y2>y1) THEN ang=ang+180
 1500 IF ang<0 THEN ang=ang+360
 1510 =ang MOD 360
 1520 :
 1530 REM BALLBOT ROBOTIC INTELLIGENCE MODULE
 1540 :
 1550 DEFFNai(freqa,freqb,freqc)
 1560 REM Artificial intelligence routines (ie. What Next??)
 1570 LOCALfwd,reverse,left,right,turbo
 1580 fwd=TRUE:reverse=FALSE:left=FALSE:right=FALSE:turbo=FALSE
 1590 :
 1600 REM What stage are we in? Hunt for balls or move to new area?
 1610 IF near<>0 AND stage<8 THEN PROCdonearstuff
 1620 IF near=0 AND (stage=0 OR stage=2) THEN PROChunt
 1630 IF near=0 AND (stage=1 OR stage=3) THEN PROCmoveout
 1640 IF stage=4 THEN PROCreleaseb
 1650 :
 1660 REM Prepare output into binary for transmission
 1670 feed=0:IF fwd THEN feed=feed+1
 1680 IF reving THEN turbo=TRUE
 1690 IF reverse THEN feed=feed+2
 1700 IF left THEN feed=feed+4
 1710 IF right THEN feed=feed+8
 1720 IF turbo THEN feed=feed+16
 1730 IF opencter>0 THEN feed=feed+32
 1740 =feed
 1750 :
 1760 REM Perform a sweep to find any balls
 1770 DEFPROChunt
 1780 REM Watch out if too near to net
 1790 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
 1800 reving=FALSE
 1810 :
 1820 REM If Ball is out of reach in the "D" sector, reverse!
 1830 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
 1840 IF farleft>0 THEN
 1850  farleft=farleft-1:reverse=TRUE:fwd=FALSE:right=TRUE:turbo=TRUE
 1860  IF fa$="B" OR (fd$<>"B" AND fb$<>"B") THEN farleft=0
 1870  ENDPROC
 1880 ENDIF
 1890 :
 1900 REM Rotate to face ball
 1910 opencter=-5*(((freqa<20)ANDfa$="B")OR((freqb<20)ANDfb$="B")OR((freqc<20)ANDfc$="B")OR((freqd<20)ANDfd$="B"))
 1920 IF fa$="B" THEN tending=%01:searching=searching/2:turbo=freqa>100:ENDPROC
 1930 IF fb$="B" THEN tending=%11:left=TRUE:ENDPROC
 1940 IF fc$="B" THEN tending=%01:right=TRUE:ENDPROC
 1950 REM If no ball in sight, continue rotation...
 1960 align=FALSE:searching=searching+1:reverse=TRUE:fwd=TRUE:IF (tending AND 1)<>0 THEN fwd=FALSE ELSE reverse=FALSE
 1962 IF (tending AND 2)<>0 THEN right=TRUE ELSE left=TRUE
 1964 IF searching=5 THEN tending=(tending EOR 2) AND 2
 1965 IF searching>5 THEN tending=tending AND 2
 1970 IF searching>150 THEN stage=stage+1
 1980 ENDPROC
 1990 :
 2000 REM Find edge of net and aim for it to move to other side
 2010 DEFPROCmoveout
 2020 REM Watch out if too near to net
 2030 IF (freqa<30 OR freqb<30 OR freqc<30) OR (reving AND (freqa<125 OR freqb<125 OR freqc<125)) THEN reving=TRUE:farleft=0:reverse=TRUE:fwd=FALSE:left=FALSE:right=FALSE:ENDPROC
 2040 reving=FALSE
 2050 REM Align ballbot to face the net post...
 2060 IF freqd<75 AND fb$="N" THEN farleft=5:left=TRUE:turbo=TRUE:ENDPROC
 2070 IF farleft>0 THEN farleft=farleft-1:left=TRUE:turbo=TRUE:ENDPROC
 2080 IF freqa<350 THEN right=TRUE:ENDPROC
 2090 IF fd$="N" AND fb$="P" AND freqb<150 THEN right=TRUE:near=1:ENDPROC
 2100 IF freqa<200 AND freqb<200 AND freqc<200 THEN right=TRUE:ENDPROC
 2110 IF (freqb*1.5)>freqc THEN left=TRUE:ENDPROC
 2120 IF freqb>100 THEN turbo=TRUE
 2130 ENDPROC
 2140 :
 2150 REM Nearly there... Just need a little nudge in the right direction.
 2160 DEFPROCdonearstuff
 2170 near=near+1
 2180 IF near<8 THEN right=TRUE:ENDPROC
 2190 left=TRUE
 2200 IF near>16 THEN near=0:stage=stage+1:searching=0:tending=2
 2210 ENDPROC
 2220 :
 2230 REM Initialise BallBot variables at the beginning of a run
 2240 DEFPROCsetupbb
 2250 reving=FALSE:left=FALSE:right=FALSE:fwd=FALSE:reverse=FALSE:searching=0:idle=TRUE
 2260 near=FALSE:farleft=0:opencter=0:tending=2
 2270 ENDPROC
 2280 :
 2290 DEFPROCreleaseb
 2300 REM Got all the balls, now just dump them!
 2310 near=near+1:reverse=TRUE:fwd=FALSE
 2320 IF near>9 THEN idle=TRUE:near=FALSE
 2330 ENDPROC
 2340 REPEAT:FORX=1TO12:OSCLI"CHANNELVOICE 1 "+STR$X:SOUND1,-10,52,100:FORR=0TO10000:NEXT,:UNTIL FALSE
 2350 :
 2360 REM Whizz-back to line up with D - what if whizz back into net?
 2370 REM Reverse if BallBot knows that balls are behind it.


 � BallBot V2.0
 � Real-Time Version
 � (C) Dominic Ford 1997
( :
2 � Welcome screen
<� �6:�" BallBot Artificial Intelligence Module"'"Simulation Tester V2.0 Real Time Version"''"Programmed and Designed by Dominic Ford"''�(16);"(C) 1997"
F �'''"Press <SPACE>"
P � � �(-99)
Z :
d � Setup variables
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:ȗ �:�drawfull
� :
� � 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
 open=(mov � 32)<>0
" �moveit
, � REPEAT UNTIL TIME>(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
& �3,%001011:�b=0�4
0B � ball(b,0)<>0 � ball(b,1)<>0 � ȓ Ȑ ball(b,0),ball(b,1),5,5
: �
D! �3,%000111:ȓ Ȑ bbx,bby,5,5
N �
X :
b* � User interface (putting balls down)
l ��user
v
 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
> � reverse � fr=fr-0.25
H � turbo � fr=fr*4
R) �drawmini:bbx=bbx+16*�(�*dir/180)*fr
\ bby=bby+16*�(�*dir/180)*fr
fX �ball=0�4:� open � �(bbx-ball(ball,0))<10 � �(bby-ball(ball,1))<10 � ball(ball,0)=0
p �:�drawmini
z �
� :
�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
$# � netlow<0 � netlow=netlow+360
.% � netlow>180 � netlow=netlow-360
8* nethi=(�angle(640,min,x,y)-dir) � 360
B  � nethi<0 � nethi=nethi+360
L" � nethi>180 � nethi=nethi-360
V :
` � Calculate reading
j freqa=freq+�(6)-3
t� � �(�(�*dir/180))>0.01 � � ((netlow<0 � nethi>0) � (nethi<0 � netlow>0)) � (640-x)/�(�*dir/180)>0 � freqa=(640-x)/�(�*dir/180):ft$="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
(4 a=�angle(ball(ball,0),ball(ball,1),bbx,bby)-dir
2, � �(a)<15 � freqa>d% � freqa=d%:fa$="B"
<3 � a>-46 � a<=-15 � freqb>d% � freqb=d%:fb$="B"
F1 � a>=15 � a<46 � freqc>d% � freqc=d%:fc$="B"
P3 � a>-90 � a<=-46 � freqd>d% � freqd=d%:fd$="B"
Z �
d :
n � Update user displays
x :
�; �0,0)�((�-start)/12000);":";(�((�-start)/200)�60);" "
�: �0,31)fd$,fb$,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)
�4 � y2=y1 � ang=90 � ang=180*�((x2-x1)/(y2-y1))/�
� � (y2>y1) � ang=ang+180
� � ang<0 � ang=ang+360
� =ang � 360
� :
�* � BALLBOT ROBOTIC INTELLIGENCE MODULE
 :
 ݤai(freqa,freqb,freqc)
9 � Artificial intelligence routines (ie. What Next??)
"" �fwd,reverse,left,right,turbo
,+ fwd=�:reverse=�:left=�:right=�:turbo=�
6 :
@@ � What stage are we in? Hunt for balls or move to new area?
J' � near<>0 � stage<8 � �donearstuff
T+ � near=0 � (stage=0 � stage=2) � �hunt
^. � near=0 � (stage=1 � stage=3) � �moveout
h � stage=4 � �releaseb
r :
|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
�� �((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=�
 :
: � 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):�
0 � farleft>0 �
:7  farleft=farleft-1:reverse=�:fwd=�:right=�:turbo=�
D3  � fa$="B" � (fd$<>"B" � fb$<>"B") � farleft=0
N  �
X �
b :
l � Rotate to face ball
vf opencter=-5*(((freqa<20)�fa$="B")�((freqb<20)�fb$="B")�((freqc<20)�fc$="B")�((freqd<20)�fd$="B"))
�D � fa$="B" � tending=%01:searching=searching/2:turbo=freqa>100:�
�% � fb$="B" � tending=%11:left=�:�
�& � fc$="B" � tending=%01:right=�:�
�0 � If no ball in sight, continue rotation...
�Y align=�:searching=searching+1:reverse=�:fwd=�:� (tending � 1)<>0 � fwd=� � reverse=�
�* � (tending � 2)<>0 � right=� � left=�
�. � searching=5 � tending=(tending � 2) � 2
�( � searching>5 � tending=tending � 2
�$ � searching>150 � stage=stage+1
� �
� :
�< � Find edge of net and aim for it to move to other side
� ��moveout
�# � Watch out if too near to net
� � (freqa<30 � freqb<30 � freqc<30) � (reving � (freqa<125 � freqb<125 � freqc<125)) � reving=�:farleft=0:reverse=�:fwd=�:left=�:right=�:�
�
 reving=�
, � Align ballbot to face the net post...
6 � freqd<75 � fb$="N" � farleft=5:left=�:turbo=�:�
5 � farleft>0 � farleft=farleft-1:left=�:turbo=�:�
  � freqa<350 � right=�:�
*7 � fd$="N" � fb$="P" � freqb<150 � right=�:near=1:�
44 � freqa<200 � freqb<200 � freqc<200 � right=�:�
># � (freqb*1.5)>freqc � left=�:�
H � freqb>100 � turbo=�
R �
\ :
fG � Nearly there... Just need a little nudge in the right direction.
p ��donearstuff
z near=near+1
� � near<8 � right=�:�
� left=�
�; � near>16 � near=0:stage=stage+1:searching=0:tending=2
� �
� :
�= � Initialise BallBot variables at the beginning of a run
� ��setupbb
�? reving=�:left=�:right=�:fwd=�:reverse=�:searching=0:idle=�
�* near=�:farleft=0:opencter=0:tending=2
� �
� :
� ��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:�,:� �
	. :
	8B � Whizz-back to line up with D - what if whizz back into net?
	B9 � Reverse if BallBot knows that balls are behind it.
�
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0000218e
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