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BioBot/BallBot2

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/BallBot2
Read OK: ✔
File size: 1586 bytes
Load address: FFFFFB45
Exec address: BBDE81D9
Duplicates

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

File contents
   10 REM BallBot V1.0
   20 REM (C) Dominic Ford 1997
   30 :
   40 REM Setup variables
   50 VOICE 1,"StringLib-Soft":*STEREO 1 0
   60 VOICE 2,"StringLib-Soft":*STEREO 2 -127
   70 VOICE 3,"StringLib-Soft":*STEREO 3 127
   80 current=0:DIMball(4,1):bbx=640:bby=950:dir=270:PROCsetupbb
   90 MODE0:MOUSE ON:PROCdrawfull
  100 :
  110 REM Start main loop
  120 REPEAT:T=TIME
  130 PROCuser
  140 IF idle THEN UNTIL FALSE
  150 PROCsense
  160 mov=FNai(freqa,freqb,freqc)
  170 fwd=(mov AND 1)<>0
  180 reverse=(mov AND 2)<>0
  190 left=(mov AND 4)<>0
  200 right=(mov AND 8)<>0
  210 PROCmoveit
  220 REPEAT UNTIL INKEY(-99)
  230 UNTIL FALSE
  240 :
  250 REM Graphic interface
  260 DEFPROCdrawfull
  270 CLS:GCOL0,1:RECTANGLE0,0,1279,1023
  280 MOVE 640,100:DRAW 640,924
  290 PROCdrawmini
  300 ENDPROC
  310 :
  320 REM Draw ballbot and balls
  330 DEFPROCdrawmini
  340 GCOL3,1:FORb=0TO4
  350 IF ball(b,0)<>0 OR ball(b,1)<>0 THEN POINT ball(b,0),ball(b,1)
  360 NEXT
  370 GCOL3,1:POINTbbx,bby
  380 ENDPROC
  390 :
  400 REM Reset to test a new biobot
  410 DEFPROCrestart
  420 stage=0:bbx=640:bby=950:dir=270
  430 FORr=0TO4:REPEAT:ball(r,0)=100+RND(1000):ball(r,1)=100+RND(800)
  440 IF ball(r,0)<670 AND ball(r,1)>620 THEN UNTIL FALSE
  450 UNTIL TRUE:NEXT
  460 PROCdrawfull
  470 ENDPROC
  480 :
  490 REM User interface (putting balls down)
  500 DEFPROCuser
  510 MOUSE x,y,c
  520 IF c=0 THEN ENDPROC
  530 IF (c AND 4)<>0 THEN PROCdrawmini:ball(current,0)=x:ball(current,1)=y:current=(current+1)MOD5:PROCdrawmini
  540 IF (c AND 2)<>0 THEN idle=FALSE:stage=0
  550 REPEAT
  560 MOUSE x,y,c
  570 UNTIL c=0
  580 ENDPROC
  590 :
  600 REM Calculate ballbot's new position
  610 DEFPROCmoveit
  620 IF left THEN dir=dir-2.5
  630 IF right THEN dir=dir+2.5
  640 :
  650 REM Get direction in range 0<theta<360
  660 REPEAT IF dir<0 THEN dir=dir+360
  670 IF dir>=360 THEN dir=dir-360
  680 UNTIL dir>=0 AND dir<360
  690 :
  700 fr=0:IF fwd THEN fr=fr+0.5
  710 IF reverse THEN fr=fr-0.5
  720 PROCdrawmini:bbx=bbx+5*SIN(PI*dir/180)*fr
  730 bby=bby+5*COS(PI*dir/180)*fr
  740 FORball=0TO4:IF ABS(bbx-ball(ball,0))<10 AND ABS(bby-ball(ball,1))<10 THEN ball(ball,0)=0
  750 NEXT:PROCdrawmini
  760 ENDPROC
  770 :
  780 REM Calculate ballbot's background echo reading (-balls)
  790 DEFFNback(x,y,freq)
  800 REM Calculate Angle of net as seen by Ballbot
  810 LOCAL freqa
  820 netlow=(FNangle(640,923,x,y)-dir) MOD 360
  830 IF netlow<0 THEN netlow=netlow+360
  840 IF netlow>180 THEN netlow=netlow-360
  850 nethi=(FNangle(640,100,x,y)-dir) MOD 360
  860 IF nethi<0 THEN nethi=nethi+360
  870 IF nethi>180 THEN nethi=nethi-360
  880 :
  890 REM Calculate reading
  900 freqa=freq+RND(6)-3
  910 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)
  920 =freqa
  930 :
  940 REM Calculate Ballbot's readings (MAIN ROUTINE)
  950 :
  960 DEFPROCsense
  970 REM Get background readings from FNback
  980 freq=RND(250)+1500:fa$="U":fb$=fa$:fc$=fa$
  990 freqa=FNback(bbx,bby,freq)
 1000 dir=dir-5:freqb=FNback(bbx,bby,freq)
 1010 dir=dir+10:freqc=FNback(bbx,bby,freq):dir=dir-5
 1020 :
 1030 REM Add any relevant balls to readings (using hairy trigonometry)
 1040 :
 1050 FORball=0TO4
 1060 d%=SQR((ball(ball,0)-bbx)^2+(ball(ball,1)-bby)^2)
 1070 IF ball(ball,0)=0 THEN d%=9999
 1080 a=FNangle(ball(ball,0),ball(ball,1),bbx,bby)-dir
 1090 IF ABS(a)<5 AND freqa>d% THEN freqa=d%:fa$="B"
 1100 IF a>-16 AND a<=-5 AND freqb>d% THEN freqb=d%:fb$="B"
 1110 IF a>=5 AND a<16 AND freqc>d% THEN freqc=d%:fc$="B"
 1120 PRINTTAB(0,ball);a
 1130 NEXT
 1140 :
 1150 REM Update user displays
 1160 :
 1170 PRINTTAB(0,31)fb$,fa$,fc$,stage,INT(searching),left,right;
 1180 SOUND 1,-1,freqa/4,5:SOUND 2,-1,freqb/4,5:SOUND 3,-1,freqc/4,5
 1190 ENDPROC
 1200:
 1210 REM Calculate bearing of B from A
 1220 DEFFNangle(x1,y1,x2,y2)
 1230 IF y2=y1 THEN ang=90 ELSE ang=180*ATN((x2-x1)/(y2-y1))/PI
 1240 IF (y2>y1) THEN ang=ang+180
 1250 =ang MOD 360
 1260 :
 1270 REM BALLBOT ROBOTIC INTELLIGENCE MODULE
 1280 :
 1290 DEFFNai(freqa,freqb,freqc)
 1300 REM Artificial intelligence routines (ie. What Next??)
 1310 LOCALfwd,reverse,left,right
 1320 fwd=TRUE:reverse=FALSE:left=FALSE:right=FALSE
 1330 :
 1340 REM What stage are we in? Hunt for balls or move to new area?
 1350 :
 1360 IF near<>0 AND stage<8 THEN PROCdonearstuff
 1370 IF near=0 AND (stage=0 OR stage=2 OR stage=4 OR stage=6) THEN PROChunt
 1380 IF near=0 AND (stage=1 OR stage=5) THEN PROCwaitmove
 1390 IF near=0 AND (stage=3 OR stage=7) THEN PROCmoveout
 1400 IF stage=8 THEN PROCreleaseb
 1410 feed=0:IF fwd THEN feed=feed+1
 1420 IF reverse THEN feed=feed+2
 1430 IF left THEN feed=feed+4
 1440 IF right THEN feed=feed+8
 1450 =feed
 1460 :
 1470 REM Perform a sweep to find any balls
 1480 DEFPROChunt
 1490 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
 1500 REM IF (freqa<freqb AND freqa<freqc) OR (freqa>freqb AND freqa>freqc) THEN d=TRUE ELSE d=FALSE
 1510 reving=FALSE
 1520 IF fa$="B" THEN searching=searching/2:ENDPROC
 1530 IF fb$="B" THEN left=TRUE:ENDPROC
 1540 IF fc$="B" THEN right=TRUE:ENDPROC
 1550 searching=searching+1:IF searching<5 THEN right=TRUE ELSE left=TRUE
 1560 IF searching>150 THEN stage=stage+1
 1570 ENDPROC
 1580 :
 1590 REM Move to next hunt
 1600 DEFPROCwaitmove
 1610 searching=searching+1:IFsearching>159 THEN stage=stage+1:searching=0
 1620 IF freqa>40 THEN forward=TRUE ELSE stage=stage+1:searching=0
 1630 ENDPROC
 1640 :
 1650 REM Find edge of net and aim for it to move to other side
 1660 DEFPROCmoveout
 1670 IF (freqa<30 OR freqb<30 OR freqc<30) OR (reving AND (freqa<125 OR freqb<125 OR freqc<125)) THEN searching=searching/2:reving=TRUE:reverse=TRUE:fwd=FALSE:left=FALSE:right=FALSE:ENDPROC
 1680 reving=FALSE
 1690 IF freqb<40 AND freqa>250 THEN right=TRUE:near=1:ENDPROC
 1700 IF freqa<200 AND freqb<200 AND freqc<200 THEN right=TRUE:ENDPROC
 1710 IF (freqb*1.5)<freqc AND (freqa*1.5)<freqc THEN right=TRUE:ENDPROC
 1720 IF (freqb*1.5)>freqc THEN left=TRUE:ENDPROC
 1730 ENDPROC
 1740 :
 1750 REM Nearly there... Just need a little nudge in the right direction.
 1760 DEFPROCdonearstuff
 1770 near=near+1
 1780 IF near<8 THEN right=TRUE:ENDPROC
 1790 left=TRUE
 1800 IF near>16 THEN near=0:stage=stage+1:searching=0
 1810 ENDPROC
 1820 :
 1830 DEFPROCsetupbb
 1840 reving=FALSE:left=FALSE:right=FALSE:fwd=FALSE:reverse=FALSE:searching=0:idle=TRUE
 1850 near=FALSE
 1860 ENDPROC
 1870 :
 1880 DEFPROCreleaseb
 1890 REM Got all the balls, now just dump them!
 1900 near=near+1:reverse=TRUE:fwd=FALSE
 1910 IF near>9 THEN idle=TRUE:near=FALSE
 1920 ENDPROC
 1930 REPEAT:FORX=1TO12:OSCLI"CHANNELVOICE 1 "+STR$X:SOUND1,-10,52,100:FORR=0TO10000:NEXT,:UNTIL FALSE


 � BallBot V1.0
 � (C) Dominic Ford 1997
 :
( � Setup variables
2& ȡ 1,"StringLib-Soft":*STEREO 1 0
<) ȡ 2,"StringLib-Soft":*STEREO 2 -127
F( ȡ 3,"StringLib-Soft":*STEREO 3 127
P: current=0:�ball(4,1):bbx=640:bby=950:dir=270:�setupbb
Z �0:ȗ �:�drawfull
d :
n � Start main loop
x
 �: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
� �moveit
� � � �(-99)
� � �
� :
� � Graphic interface
 ��drawfull
 �:�0,1:ȓ0,0,1279,1023
 � 640,100:� 640,924
" �drawmini
, �
6 :
@ � Draw ballbot and balls
J ��drawmini
T �3,1:�b=0�4
^; � ball(b,0)<>0 � ball(b,1)<>0 � Ȓ ball(b,0),ball(b,1)
h �
r �3,1:Ȓbbx,bby
| �
� :
�! � 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 � � �
�
 � �:�
� �drawfull
� �
� :
�* � 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
& �
0
 ȗ x,y,c
:
 � c=0
D �
N :
X' � Calculate ballbot's new position
b
 ��moveit
l � left � dir=dir-2.5
v � right � 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+0.5
� � reverse � fr=fr-0.5
�( �drawmini:bbx=bbx+5*�(�*dir/180)*fr
� bby=bby+5*�(�*dir/180)*fr
�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(x,y,freq)
 0 � Calculate Angle of net as seen by Ballbot
* � freqa
4+ netlow=(�angle(640,923,x,y)-dir) � 360
># � netlow<0 � netlow=netlow+360
H% � netlow>180 � netlow=netlow-360
R* nethi=(�angle(640,100,x,y)-dir) � 360
\  � nethi<0 � nethi=nethi+360
f" � nethi>180 � nethi=nethi-360
p :
z � 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
�- freq=�(250)+1500:fa$="U":fb$=fa$:fc$=fa$
� freqa=�back(bbx,bby,freq)
�( dir=dir-5:freqb=�back(bbx,bby,freq)
�3 dir=dir+10:freqc=�back(bbx,bby,freq):dir=dir-5
� :
D � Add any relevant balls to readings (using hairy trigonometry)
 :
 �ball=0�4
$4 d%=�((ball(ball,0)-bbx)^2+(ball(ball,1)-bby)^2)
. � ball(ball,0)=0 � d%=9999
84 a=�angle(ball(ball,0),ball(ball,1),bbx,bby)-dir
B+ � �(a)<5 � freqa>d% � freqa=d%:fa$="B"
L2 � a>-16 � a<=-5 � freqb>d% � freqb=d%:fb$="B"
V0 � a>=5 � a<16 � freqc>d% � freqc=d%:fc$="B"
` �0,ball);a
j �
t :
~ � Update user displays
� :
�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)
�4 � y2=y1 � ang=90 � ang=180*�((x2-x1)/(y2-y1))/�
� � (y2>y1) � ang=ang+180
� =ang � 360
� :
�* � BALLBOT ROBOTIC INTELLIGENCE MODULE
 :

 ݤai(freqa,freqb,freqc)
9 � Artificial intelligence routines (ie. What Next??)
 �fwd,reverse,left,right
(# fwd=�:reverse=�:left=�:right=�
2 :
<@ � What stage are we in? Hunt for balls or move to new area?
F :
P' � near<>0 � stage<8 � �donearstuff
Z? � near=0 � (stage=0 � stage=2 � stage=4 � stage=6) � �hunt
d/ � near=0 � (stage=1 � stage=5) � �waitmove
n. � near=0 � (stage=3 � stage=7) � �moveout
x � stage=8 � �releaseb
� feed=0:� fwd � feed=feed+1
� � reverse � feed=feed+2
� � left � feed=feed+4
� � right � feed=feed+8
�
 =feed
� :
�( � Perform a sweep to find any balls
� ��hunt
Ҏ � (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
�
 reving=�
�( � fa$="B" � searching=searching/2:�
� � fb$="B" � left=�:�
 � fc$="B" � right=�:�
; searching=searching+1:� searching<5 � right=� � left=�
$ � searching>150 � stage=stage+1
" �
, :
6 � Move to next hunt
@ ��waitmove
JE searching=searching+1:�searching>159 � stage=stage+1:searching=0
T7 � freqa>40 � forward=� � stage=stage+1:searching=0
^ �
h :
r< � 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=�:�
� �
� :
�G � Nearly there... Just need a little nudge in the right direction.
� ��donearstuff
� near=near+1
� � near<8 � right=�:�
� left=�
1 � near>16 � near=0:stage=stage+1:searching=0
 �
 :
& ��setupbb
0? reving=�:left=�:right=�:fwd=�:reverse=�:searching=0:idle=�
: near=�
D �
N :
X ��releaseb
b- � Got all the balls, now just dump them!
l  near=near+1:reverse=�:fwd=�
v � near>9 � idle=�:near=�
� �
�D �:�X=1�12:�"CHANNELVOICE 1 "+�X:�1,-10,52,100:�R=0�10000:�,:� �
�
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00000010  31 2e 30 0d 00 14 1c 20  f4 20 28 43 29 20 44 6f  |1.0.... . (C) Do|
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00000090  52 45 4f 20 32 20 2d 31  32 37 0d 00 46 28 20 c8  |REO 2 -127..F( .|
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000000f0  32 37 30 3a f2 73 65 74  75 70 62 62 0d 00 5a 16  |270:.setupbb..Z.|
00000100  20 eb 30 3a c8 97 20 ee  3a f2 64 72 61 77 66 75  | .0:.. .:.drawfu|
00000110  6c 6c 0d 00 64 06 20 3a  0d 00 6e 16 20 f4 20 53  |ll..d. :..n. . S|
00000120  74 61 72 74 20 6d 61 69  6e 20 6c 6f 6f 70 0d 00  |tart main loop..|
00000130  78 0a 20 f5 3a 54 3d 91  0d 00 82 0a 20 f2 75 73  |x. .:T=..... .us|
00000140  65 72 0d 00 8c 11 20 e7  20 69 64 6c 65 20 8c 20  |er.... . idle . |
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00000160  a0 1f 20 6d 6f 76 3d a4  61 69 28 66 72 65 71 61  |.. mov=.ai(freqa|
00000170  2c 66 72 65 71 62 2c 66  72 65 71 63 29 0d 00 aa  |,freqb,freqc)...|
00000180  15 20 66 77 64 3d 28 6d  6f 76 20 80 20 31 29 3c  |. fwd=(mov . 1)<|
00000190  3e 30 0d 00 b4 19 20 72  65 76 65 72 73 65 3d 28  |>0.... reverse=(|
000001a0  6d 6f 76 20 80 20 32 29  3c 3e 30 0d 00 be 16 20  |mov . 2)<>0.... |
000001b0  6c 65 66 74 3d 28 6d 6f  76 20 80 20 34 29 3c 3e  |left=(mov . 4)<>|
000001c0  30 0d 00 c8 17 20 72 69  67 68 74 3d 28 6d 6f 76  |0.... right=(mov|
000001d0  20 80 20 38 29 3c 3e 30  0d 00 d2 0c 20 f2 6d 6f  | . 8)<>0.... .mo|
000001e0  76 65 69 74 0d 00 dc 0f  20 f5 20 fd 20 a6 28 2d  |veit.... . . .(-|
000001f0  39 39 29 0d 00 e6 08 20  fd 20 a3 0d 00 f0 06 20  |99).... . ..... |
00000200  3a 0d 00 fa 18 20 f4 20  47 72 61 70 68 69 63 20  |:.... . Graphic |
00000210  69 6e 74 65 72 66 61 63  65 0d 01 04 0f 20 dd f2  |interface.... ..|
00000220  64 72 61 77 66 75 6c 6c  0d 01 0e 1b 20 db 3a e6  |drawfull.... .:.|
00000230  30 2c 31 3a c8 93 30 2c  30 2c 31 32 37 39 2c 31  |0,1:..0,0,1279,1|
00000240  30 32 33 0d 01 18 18 20  ec 20 36 34 30 2c 31 30  |023.... . 640,10|
00000250  30 3a df 20 36 34 30 2c  39 32 34 0d 01 22 0e 20  |0:. 640,924..". |
00000260  f2 64 72 61 77 6d 69 6e  69 0d 01 2c 06 20 e1 0d  |.drawmini..,. ..|
00000270  01 36 06 20 3a 0d 01 40  1d 20 f4 20 44 72 61 77  |.6. :..@. . Draw|
00000280  20 62 61 6c 6c 62 6f 74  20 61 6e 64 20 62 61 6c  | ballbot and bal|
00000290  6c 73 0d 01 4a 0f 20 dd  f2 64 72 61 77 6d 69 6e  |ls..J. ..drawmin|
000002a0  69 0d 01 54 10 20 e6 33  2c 31 3a e3 62 3d 30 b8  |i..T. .3,1:.b=0.|
000002b0  34 0d 01 5e 3b 20 e7 20  62 61 6c 6c 28 62 2c 30  |4..^; . ball(b,0|
000002c0  29 3c 3e 30 20 84 20 62  61 6c 6c 28 62 2c 31 29  |)<>0 . ball(b,1)|
000002d0  3c 3e 30 20 8c 20 c8 92  20 62 61 6c 6c 28 62 2c  |<>0 . .. ball(b,|
000002e0  30 29 2c 62 61 6c 6c 28  62 2c 31 29 0d 01 68 06  |0),ball(b,1)..h.|
000002f0  20 ed 0d 01 72 13 20 e6  33 2c 31 3a c8 92 62 62  | ...r. .3,1:..bb|
00000300  78 2c 62 62 79 0d 01 7c  06 20 e1 0d 01 86 06 20  |x,bby..|. ..... |
00000310  3a 0d 01 90 21 20 f4 20  52 65 73 65 74 20 74 6f  |:...! . Reset to|
00000320  20 74 65 73 74 20 61 20  6e 65 77 20 62 69 6f 62  | test a new biob|
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000003a0  20 e7 20 62 61 6c 6c 28  72 2c 30 29 3c 36 37 30  | . ball(r,0)<670|
000003b0  20 80 20 62 61 6c 6c 28  72 2c 31 29 3e 36 32 30  | . ball(r,1)>620|
000003c0  20 8c 20 fd 20 a3 0d 01  c2 0a 20 fd 20 b9 3a ed  | . . ..... . .:.|
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000003e0  d6 06 20 e1 0d 01 e0 06  20 3a 0d 01 ea 2a 20 f4  |.. ..... :...* .|
000003f0  20 55 73 65 72 20 69 6e  74 65 72 66 61 63 65 20  | User interface |
00000400  28 70 75 74 74 69 6e 67  20 62 61 6c 6c 73 20 64  |(putting balls d|
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00000430  20 e7 20 63 3d 30 20 8c  20 e1 0d 02 12 61 20 e7  | . c=0 . ....a .|
00000440  20 28 63 20 80 20 34 29  3c 3e 30 20 8c 20 f2 64  | (c . 4)<>0 . .d|
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00000460  72 65 6e 74 2c 30 29 3d  78 3a 62 61 6c 6c 28 63  |rent,0)=x:ball(c|
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000004a0  e7 20 28 63 20 80 20 32  29 3c 3e 30 20 8c 20 69  |. (c . 2)<>0 . i|
000004b0  64 6c 65 3d a3 3a 73 74  61 67 65 3d 30 0d 02 26  |dle=.:stage=0..&|
000004c0  06 20 f5 0d 02 30 0d 20  c8 97 20 78 2c 79 2c 63  |. ...0. .. x,y,c|
000004d0  0d 02 3a 0a 20 fd 20 63  3d 30 0d 02 44 06 20 e1  |..:. . c=0..D. .|
000004e0  0d 02 4e 06 20 3a 0d 02  58 27 20 f4 20 43 61 6c  |..N. :..X' . Cal|
000004f0  63 75 6c 61 74 65 20 62  61 6c 6c 62 6f 74 27 73  |culate ballbot's|
00000500  20 6e 65 77 20 70 6f 73  69 74 69 6f 6e 0d 02 62  | new position..b|
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00000570  20 30 3c 74 68 65 74 61  3c 33 36 30 0d 02 94 1c  | 0<theta<360....|
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00000590  3d 64 69 72 2b 33 36 30  0d 02 9e 1d 20 e7 20 64  |=dir+360.... . d|
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000005b0  72 2d 33 36 30 0d 02 a8  17 20 fd 20 64 69 72 3e  |r-360.... . dir>|
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000006c0  20 43 61 6c 63 75 6c 61  74 65 20 62 61 6c 6c 62  | Calculate ballb|
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00000710  20 43 61 6c 63 75 6c 61  74 65 20 41 6e 67 6c 65  | Calculate Angle|
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00000730  62 79 20 42 61 6c 6c 62  6f 74 0d 03 2a 0c 20 ea  |by Ballbot..*. .|
00000740  20 66 72 65 71 61 0d 03  34 2b 20 6e 65 74 6c 6f  | freqa..4+ netlo|
00000750  77 3d 28 a4 61 6e 67 6c  65 28 36 34 30 2c 39 32  |w=(.angle(640,92|
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00000770  30 0d 03 3e 23 20 e7 20  6e 65 74 6c 6f 77 3c 30  |0..># . netlow<0|
00000780  20 8c 20 6e 65 74 6c 6f  77 3d 6e 65 74 6c 6f 77  | . netlow=netlow|
00000790  2b 33 36 30 0d 03 48 25  20 e7 20 6e 65 74 6c 6f  |+360..H% . netlo|
000007a0  77 3e 31 38 30 20 8c 20  6e 65 74 6c 6f 77 3d 6e  |w>180 . netlow=n|
000007b0  65 74 6c 6f 77 2d 33 36  30 0d 03 52 2a 20 6e 65  |etlow-360..R* ne|
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000007d0  31 30 30 2c 78 2c 79 29  2d 64 69 72 29 20 83 20  |100,x,y)-dir) . |
000007e0  33 36 30 0d 03 5c 20 20  e7 20 6e 65 74 68 69 3c  |360..\  . nethi<|
000007f0  30 20 8c 20 6e 65 74 68  69 3d 6e 65 74 68 69 2b  |0 . nethi=nethi+|
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00000810  31 38 30 20 8c 20 6e 65  74 68 69 3d 6e 65 74 68  |180 . nethi=neth|
00000820  69 2d 33 36 30 0d 03 70  06 20 3a 0d 03 7a 18 20  |i-360..p. :..z. |
00000830  f4 20 43 61 6c 63 75 6c  61 74 65 20 72 65 61 64  |. Calculate read|
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00000850  65 71 2b b3 28 36 29 2d  33 0d 03 8e 83 20 e7 20  |eq+.(6)-3.... . |
00000860  94 28 b5 28 af 2a 64 69  72 2f 31 38 30 29 29 3e  |.(.(.*dir/180))>|
00000870  30 2e 30 31 20 8c 20 e7  20 28 28 6e 65 74 6c 6f  |0.01 . . ((netlo|
00000880  77 3c 30 20 80 20 6e 65  74 68 69 3e 30 29 20 84  |w<0 . nethi>0) .|
00000890  20 28 6e 65 74 68 69 3c  30 20 80 20 6e 65 74 6c  | (nethi<0 . netl|
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000008b0  2f b5 28 af 2a 64 69 72  2f 31 38 30 29 3e 30 20  |/.(.*dir/180)>0 |
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000008e0  20 3d 66 72 65 71 61 0d  03 a2 06 20 3a 0d 03 ac  | =freqa.... :...|
000008f0  32 20 f4 20 43 61 6c 63  75 6c 61 74 65 20 42 61  |2 . Calculate Ba|
00000900  6c 6c 62 6f 74 27 73 20  72 65 61 64 69 6e 67 73  |llbot's readings|
00000910  20 28 4d 41 49 4e 20 52  4f 55 54 49 4e 45 29 0d  | (MAIN ROUTINE).|
00000920  03 b6 06 20 3a 0d 03 c0  0c 20 dd f2 73 65 6e 73  |... :.... ..sens|
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00000940  67 72 6f 75 6e 64 20 72  65 61 64 69 6e 67 73 20  |ground readings |
00000950  66 72 6f 6d 20 46 4e 62  61 63 6b 0d 03 d4 2d 20  |from FNback...- |
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000009d0  f2 33 20 64 69 72 3d 64  69 72 2b 31 30 3a 66 72  |.3 dir=dir+10:fr|
000009e0  65 71 63 3d a4 62 61 63  6b 28 62 62 78 2c 62 62  |eqc=.back(bbx,bb|
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00000a00  35 0d 03 fc 06 20 3a 0d  04 06 44 20 f4 20 41 64  |5.... :...D . Ad|
00000a10  64 20 61 6e 79 20 72 65  6c 65 76 61 6e 74 20 62  |d any relevant b|
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00000a50  3a 0d 04 1a 0e 20 e3 62  61 6c 6c 3d 30 b8 34 0d  |:.... .ball=0.4.|
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00000ad0  6c 28 62 61 6c 6c 2c 31  29 2c 62 62 78 2c 62 62  |l(ball,1),bbx,bb|
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00000b10  22 0d 04 4c 32 20 e7 20  61 3e 2d 31 36 20 80 20  |"..L2 . a>-16 . |
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00000b30  20 8c 20 66 72 65 71 62  3d 64 25 3a 66 62 24 3d  | . freqb=d%:fb$=|
00000b40  22 42 22 0d 04 56 30 20  e7 20 61 3e 3d 35 20 80  |"B"..V0 . a>=5 .|
00000b50  20 61 3c 31 36 20 80 20  66 72 65 71 63 3e 64 25  | a<16 . freqc>d%|
00000b60  20 8c 20 66 72 65 71 63  3d 64 25 3a 66 63 24 3d  | . freqc=d%:fc$=|
00000b70  22 42 22 0d 04 60 10 20  f1 8a 30 2c 62 61 6c 6c  |"B"..`. ..0,ball|
00000b80  29 3b 61 0d 04 6a 06 20  ed 0d 04 74 06 20 3a 0d  |);a..j. ...t. :.|
00000b90  04 7e 1b 20 f4 20 55 70  64 61 74 65 20 75 73 65  |.~. . Update use|
00000ba0  72 20 64 69 73 70 6c 61  79 73 0d 04 88 06 20 3a  |r displays.... :|
00000bb0  0d 04 92 36 20 f1 8a 30  2c 33 31 29 66 62 24 2c  |...6 ..0,31)fb$,|
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00000c00  2d 31 2c 66 72 65 71 62  2f 34 2c 35 3a d4 20 33  |-1,freqb/4,5:. 3|
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00000c40  20 6f 66 20 42 20 66 72  6f 6d 20 41 0d 04 c4 19  | of B from A....|
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00000c70  31 20 8c 20 61 6e 67 3d  39 30 20 8b 20 61 6e 67  |1 . ang=90 . ang|
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00000c90  79 32 2d 79 31 29 29 2f  af 0d 04 d8 1c 20 e7 20  |y2-y1))/..... . |
00000ca0  28 79 32 3e 79 31 29 20  8c 20 61 6e 67 3d 61 6e  |(y2>y1) . ang=an|
00000cb0  67 2b 31 38 30 0d 04 e2  0f 20 3d 61 6e 67 20 83  |g+180.... =ang .|
00000cc0  20 33 36 30 0d 04 ec 06  20 3a 0d 04 f6 2a 20 f4  | 360.... :...* .|
00000cd0  20 42 41 4c 4c 42 4f 54  20 52 4f 42 4f 54 49 43  | BALLBOT ROBOTIC|
00000ce0  20 49 4e 54 45 4c 4c 49  47 45 4e 43 45 20 4d 4f  | INTELLIGENCE MO|
00000cf0  44 55 4c 45 0d 05 00 06  20 3a 0d 05 0a 1c 20 dd  |DULE.... :.... .|
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00000d10  66 72 65 71 63 29 0d 05  14 39 20 f4 20 41 72 74  |freqc)...9 . Art|
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00000d40  65 2e 20 57 68 61 74 20  4e 65 78 74 3f 3f 29 0d  |e. What Next??).|
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00000d80  6c 65 66 74 3d a3 3a 72  69 67 68 74 3d a3 0d 05  |left=.:right=...|
00000d90  32 06 20 3a 0d 05 3c 40  20 f4 20 57 68 61 74 20  |2. :..<@ . What |
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00000db0  20 48 75 6e 74 20 66 6f  72 20 62 61 6c 6c 73 20  | Hunt for balls |
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00000dd0  72 65 61 3f 0d 05 46 06  20 3a 0d 05 50 27 20 e7  |rea?..F. :..P' .|
00000de0  20 6e 65 61 72 3c 3e 30  20 80 20 73 74 61 67 65  | near<>0 . stage|
00000df0  3c 38 20 8c 20 f2 64 6f  6e 65 61 72 73 74 75 66  |<8 . .donearstuf|
00000e00  66 0d 05 5a 3f 20 e7 20  6e 65 61 72 3d 30 20 80  |f..Z? . near=0 .|
00000e10  20 28 73 74 61 67 65 3d  30 20 84 20 73 74 61 67  | (stage=0 . stag|
00000e20  65 3d 32 20 84 20 73 74  61 67 65 3d 34 20 84 20  |e=2 . stage=4 . |
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00000e60  3d 35 29 20 8c 20 f2 77  61 69 74 6d 6f 76 65 0d  |=5) . .waitmove.|
00000e70  05 6e 2e 20 e7 20 6e 65  61 72 3d 30 20 80 20 28  |.n. . near=0 . (|
00000e80  73 74 61 67 65 3d 33 20  84 20 73 74 61 67 65 3d  |stage=3 . stage=|
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00000f00  66 65 65 64 3d 66 65 65  64 2b 34 0d 05 a0 1a 20  |feed=feed+4.... |
00000f10  e7 20 72 69 67 68 74 20  8c 20 66 65 65 64 3d 66  |. right . feed=f|
00000f20  65 65 64 2b 38 0d 05 aa  0a 20 3d 66 65 65 64 0d  |eed+8.... =feed.|
00000f30  05 b4 06 20 3a 0d 05 be  28 20 f4 20 50 65 72 66  |... :...( . Perf|
00000f40  6f 72 6d 20 61 20 73 77  65 65 70 20 74 6f 20 66  |orm a sweep to f|
00000f50  69 6e 64 20 61 6e 79 20  62 61 6c 6c 73 0d 05 c8  |ind any balls...|
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00000f70  66 72 65 71 61 3c 32 30  20 80 20 66 72 65 71 62  |freqa<20 . freqb|
00000f80  3c 32 30 20 80 20 66 72  65 71 63 3c 32 30 29 20  |<20 . freqc<20) |
00000f90  84 20 28 72 65 76 69 6e  67 20 80 20 66 72 65 71  |. (reving . freq|
00000fa0  61 3c 31 30 30 20 80 20  66 72 65 71 62 3c 31 30  |a<100 . freqb<10|
00000fb0  30 20 80 20 66 72 65 71  63 3c 31 30 30 29 20 8c  |0 . freqc<100) .|
00000fc0  20 73 65 61 72 63 68 69  6e 67 3d 30 3a 72 65 76  | searching=0:rev|
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00000ff0  68 74 3d a3 3a e1 0d 05  dc 61 20 f4 20 49 46 20  |ht=.:....a . IF |
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00001010  20 66 72 65 71 61 3c 66  72 65 71 63 29 20 4f 52  | freqa<freqc) OR|
00001020  20 28 66 72 65 71 61 3e  66 72 65 71 62 20 41 4e  | (freqa>freqb AN|
00001030  44 20 66 72 65 71 61 3e  66 72 65 71 63 29 20 54  |D freqa>freqc) T|
00001040  48 45 4e 20 64 3d 54 52  55 45 20 45 4c 53 45 20  |HEN d=TRUE ELSE |
00001050  64 3d 46 41 4c 53 45 0d  05 e6 0d 20 72 65 76 69  |d=FALSE.... revi|
00001060  6e 67 3d a3 0d 05 f0 28  20 e7 20 66 61 24 3d 22  |ng=....( . fa$="|
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00001580  3a fd 20 a3 0d ff                                 |:. ...|
00001586
BioBot/BallBot2.m0
BioBot/BallBot2.m1
BioBot/BallBot2.m2
BioBot/BallBot2.m4
BioBot/BallBot2.m5

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