BioBot/BBMotor2

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BioBot/BBMotor2

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/BBMotor2
Read OK:	✔
File size:	260E bytes
Load address:	FFFFFB47
Exec address:	FA895758

Duplicates

There are 5 duplicate copies of this file in the archive:

Personal collection » Acorn ADFS disks » Archimedes » Dominic_4.ADF » BioBot/BBMotor2
Personal collection » Acorn ADFS disks » Archimedes » Files.ADF » BioBot/BBMotor2
Personal collection » Acorn ADFS disks » Greaseweazled » adfs_Dominic_4.adf » BioBot/BBMotor2
Personal collection » Acorn ADFS disks » Greaseweazled » dos34_s2312.016_compaq_user_programs.adf » BioBot/BBMotor2
Personal collection » Acorn hard disk » files » BallBot » BioBot/BBMotor2
Personal collection » Acorn hard disk » misc » misc2 » biobot/BioBot/BBMotor2

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$="1" THEN PROCuser ELSE PROCcompmon
  240 IF idle THEN UNTIL FALSE
  250 PROCsense
  260 mov=FNai(freqa,freqb,freqc,freqd)
  270 left=(mov AND 1)<>0
  280 right=(mov AND 2)<>0
  290 turbo=(mov AND 4)<>0
  300 on=(mov AND 8)<>0
  310 reverse=(mov AND 16)<>0
  320 PROCmoveit
  330 IF type$="1" THEN PRINTTAB(0,2)TIME-T
  340 REPEAT UNTIL TIME>(T+15)
  350 UNTIL FALSE
  360 :
  370 REM Graphic interface
  380 DEFPROCdrawfull
  390 REM Set up constants
  400 LOCALsx,sy,width
  410 sx=1:sy=2:width=10
  420 REM Setup Colours
  430 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
  440 :
  450 REM Draw green court area
  460 CLS:GCOL0,0:RECTANGLE FILL 0,0,1279,1023
  470 REM Mark out white lines onto court
  480 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
  490 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
  500 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
  510 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
  520 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
  530 :
  540 REM Draw net
  550 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
  560 GCOL0,2:MOVE 682,142:DRAW682,966
  570 PROCdrawmini
  580 ENDPROC
  590 :
  600 REM Draw ballbot and balls
  610 DEFPROCdrawmini
  620 IF type$="2" THEN ENDPROC
  630 GCOL3,4:FORb=0TO4
  640 IF ball(b,0)<>0 OR ball(b,1)<>0 THEN RECTANGLE FILL ball(b,0),ball(b,1),5,5
  650 NEXT
  660 GCOL3,3:RECTANGLE FILL bbx,bby,5,5
  670 ENDPROC
  680 :
  690 REM User interface (putting balls down)
  700 DEFPROCuser
  710 MOUSE x,y,c
  720 IF c=0 THEN ENDPROC
  730 IF (c AND 4)<>0 THEN PROCdrawmini:ball(current,0)=x:ball(current,1)=y:current=(current+1)MOD5:PROCdrawmini
  740 IF (c AND 2)<>0 THEN idle=FALSE:stage=0:start=TIME
  750 REPEAT
  760 MOUSE x,y,c
  770 UNTIL c=0
  780 ENDPROC
  790 :
  800 REM Calculate ballbot's new position
  810 DEFPROCmoveit
  820 LOCAL speed
  830 IF NOT on THEN ENDPROC
  840 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
  850 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
  860 IF left AND right THEN speed=1+2*reverse
  870 :
  880 REM Get direction in range 0<theta<360
  890 REPEAT IF dir<0 THEN dir=dir+360
  900 IF dir>=360 THEN dir=dir-360
  910 UNTIL dir>=0 AND dir<360
  920 :
  930 PROCdrawmini:bbx=bbx+15*SIN(PI*dir/180)*speed*(.75*-turbo+.25)
  940 bby=bby+20*COS(PI*dir/180)*speed*(.75*-turbo+.25)
  950 FORball=0TO4:IF ABS(bbx-ball(ball,0))<10 AND ABS(bby-ball(ball,1))<10 THEN ball(ball,0)=0
  960 NEXT:PROCdrawmini
  970 ENDPROC
  980 :
  990 REM Calculate ballbot's background echo reading (-balls)
 1000 DEFFNback(freq,min,max)
 1010 REM Get angular range in form 0<theta<360
 1020 REM Set up initial outside range settings
 1030 hit=0:dist=9999:dista=9999:hita=0:REM LOCAL hit,dist,hita,dista
 1040 REM If straight at net is in range, will be shortest.
 1050 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
 1060 REM Otherwise find shortest extreme of range
 1070 IF SIN(PI*min/180)<>0 THEN dist=(640-bbx)/SIN(PI*min/180):hit=bby+(640-bbx)/TAN(PI*min/180)
 1080 IF SIN(PI*max/180)<>0 THEN dista=(640-bbx)/SIN(PI*max/180):hita=bby+(640-bbx)/TAN(PI*max/180)
 1090 REM Just check if post in middle of range
 1100 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)
 1110 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)
 1120 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)
 1130 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)
 1140 REM Pick best to send off!
 1150 IF dist<0 OR (dista<dist AND hita>100 AND hita<923) THEN dist=dista:hit=hita
 1160 IF hit>923 OR hit<100 OR dist<0 THEN ftype$="U":=freq+RND(6)-3
 1170 IF hit>900 OR hit<123 THEN ftype$="P":=dist
 1180 ftype$="N"
 1190 =dist
 1200 :
 1210 REM Calculate Ballbot's readings (MAIN ROUTINE)
 1220 :
 1230 DEFPROCsense
 1240 REM Get background readings from FNback
 1250 freq=RND(250)+1500
 1260 freqa=FNback(freq,dir-15,dir+15):fa$=ftype$
 1270 freqb=FNback(freq,dir-45,dir-15):fb$=ftype$
 1280 freqc=FNback(freq,dir+15,dir+45):fc$=ftype$
 1290 freqd=FNback(freq,dir-75,dir-45):fd$=ftype$
 1300 :
 1310 REM Add any relevant balls to readings (using hairy trigonometry)
 1320 :
 1330 FORball=0TO4
 1340 d%=SQR((ball(ball,0)-bbx)^2+(ball(ball,1)-bby)^2)
 1350 IF ball(ball,0)=0 THEN d%=9999
 1360 a=FNangle(ball(ball,0),ball(ball,1),bbx,bby)-dir:IFa>180 THEN a=a-360
 1370 IF ABS(a)<15 AND freqa>d% THEN freqa=d%:fa$="B"
 1380 IF a>-46 AND a<=-15 AND freqb>d% THEN freqb=d%:fb$="B"
 1390 IF a>=15 AND a<46 AND freqc>d% THEN freqc=d%:fc$="B"
 1400 IF a>-76 AND a<=-75 AND freqd>d% THEN freqd=d%:fd$="B"
 1410 NEXT
 1420 :
 1430 REM Update user displays
 1440 :
 1450 IF type$="2" THEN ENDPROC
 1460 PRINTTAB(0,0)INT((TIME-start)/6000);":";(INT((TIME-start)/100)MOD60);" "
 1470 PRINTTAB(0,31)fd$,fb$,fa$,fc$,stage,INT(searching),left,right," ",dir," ",near;
 1480 SOUND 1,-1,freqa/4,5:SOUND 2,-1,freqb/4,5:SOUND 3,-1,freqc/4,5
 1490 ENDPROC
 1500:
 1510 REM Calculate bearing of B from A
 1520 DEFFNangle(x1,y1,x2,y2)
 1530 IF y2=y1 THEN ang=90 ELSE ang=180*ATN((x2-x1)/(y2-y1))/PI
 1540 IF (y2>y1) THEN ang=ang+180
 1550 IF ang<0 THEN ang=ang+360
 1560 =ang MOD 360
 1570 :
 1580 REM Computer Monitor of BallBot's progress
 1590 DEFPROCcompmon
 1600 IF idle AND (ball(0,0)<>0 OR ball(1,0)<>0 OR ball(2,0)<>0 OR ball(3,0)<>0 OR ball(4,0)<>0) THEN st$="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" OR fd$="B" THEN stage=stage-1:searching=44:ENDPROC
 2210 REM Align ballbot to face the net post...
 2220 IF fa$="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$="1" � �user � �compmon
� � idle � � �
� �sense
% mov=�ai(freqa,freqb,freqc,freqd)
 left=(mov � 1)<>0
 right=(mov � 2)<>0
" turbo=(mov � 4)<>0
, on=(mov � 8)<>0
6 reverse=(mov � 16)<>0
@ �moveit
J � type$="1" � �0,2)�-T
T � � �>(T+15)
^ � �
h :
r � Graphic interface
| ��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 �0,2:� 682,142:�682,966
: �drawmini
D �
N :
X � Draw ballbot and balls
b ��drawmini
l � type$="2" � �
v �3,4:�b=0�4
�B � 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
4 � speed
> � � on � �
Hv � ((� reverse) � left � (� right)) � (reverse � right � (� left)) � dir=dir-2.5*(1-3*turbo):speed=0.1+0.2*reverse
Rv � ((� reverse) � right � (� left)) � (reverse � left � (� right)) � dir=dir+2.5*(1-3*turbo):speed=0.1+0.2*reverse
\' � left � right � speed=1+2*reverse
f :
p) � Get direction in range 0<theta<360
z � � dir<0 � dir=dir+360
� � 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.
w �(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
$/ � Otherwise find shortest extreme of range
.S � �(�*min/180)<>0 � dist=(640-bbx)/�(�*min/180):hit=bby+(640-bbx)/�(�*min/180)
8U � �(�*max/180)<>0 � dista=(640-bbx)/�(�*max/180):hita=bby+(640-bbx)/�(�*max/180)
B, � Just check if post in middle of range
Ld � bbx<640 � hit>100 � (hita<100 � dista<0) � dist>0 � hita=100:dista=�((bbx-640)^2+(bby-100)^2)
Vb � bbx<640 � hita<923 � (hit>923 � dist<0) � dista>0 � hit=923:dist=�((bbx-640)^2+(bby-923)^2)
`b � bbx>640 � hita>100 � (hit<100 � dist<0) � dista>0 � hit=100:dist=�((bbx-640)^2+(bby-100)^2)
jd � bbx>640 � hit<923 � (hita>923 � dista<0) � dist>0 � hita=923:dista=�((bbx-640)^2+(bby-923)^2)
t � Pick best to send off!
~H � dist<0 � (dista<dist � hita>100 � hita<923) � dist=dista:hit=hita
�; � hit>923 � hit<100 � dist<0 � ftype$="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)
( :
2 �ball=0�4
<4 d%=�((ball(ball,0)-bbx)^2+(ball(ball,1)-bby)^2)
F � ball(ball,0)=0 � d%=9999
PE a=�angle(ball(ball,0),ball(ball,1),bbx,bby)-dir:�a>180 � a=a-360
Z, � �(a)<15 � freqa>d% � freqa=d%:fa$="B"
d3 � a>-46 � a<=-15 � freqb>d% � freqb=d%:fb$="B"
n1 � a>=15 � a<46 � freqc>d% � freqc=d%:fc$="B"
x3 � a>-76 � a<=-75 � freqd>d% � freqd=d%:fd$="B"
� �
� :
� � Update user displays
� :
� � type$="2" � �
�: �0,0)�((�-start)/6000);":";(�((�-start)/100)�60);" "
�K �0,31)fd$,fb$,fa$,fc$,stage,�(searching),left,right," ",dir," ",near;
�7 � 1,-1,freqa/4,5:� 2,-1,freqb/4,5:� 3,-1,freqc/4,5
� �
�:
�$ � 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
" :
,- � 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!
�K � fa$="B" � fb$="B" � fc$="B" � fd$="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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00000010  34 2e 30 0d 00 14 37 20  f4 20 52 65 61 6c 2d 54  |4.0...7 . Real-T|
00000020  69 6d 65 20 56 65 72 73  69 6f 6e 20 77 69 74 68  |ime Version with|
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00000050  20 4e 65 77 20 6d 65 63  68 61 6e 69 63 61 6c 20  | New mechanical |
00000060  72 6f 62 6f 74 20 64 65  73 69 67 6e 20 63 68 61  |robot design cha|
00000070  6e 67 65 73 20 28 74 77  6f 20 6d 6f 74 6f 72 20  |nges (two motor |
00000080  64 72 69 76 65 29 0d 00  28 1c 20 f4 20 28 43 29  |drive)..(. . (C)|
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|
000000c0  a2 20 eb 36 3a 40 25 3d  26 39 30 35 3a f1 22 20  |. .6:@%=&905:." |
000000d0  42 61 6c 6c 42 6f 74 20  41 72 74 69 66 69 63 69  |BallBot Artifici|
000000e0  61 6c 20 49 6e 74 65 6c  6c 69 67 65 6e 63 65 20  |al Intelligence |
000000f0  4d 6f 64 75 6c 65 22 27  22 53 69 6d 75 6c 61 74  |Module"'"Simulat|
00000100  69 6f 6e 20 54 65 73 74  65 72 20 56 34 2e 30 20  |ion Tester V4.0 |
00000110  52 65 61 6c 20 54 69 6d  65 20 56 65 72 73 69 6f  |Real Time Versio|
00000120  6e 22 27 27 22 50 72 6f  67 72 61 6d 6d 65 64 20  |n"''"Programmed |
00000130  61 6e 64 20 44 65 73 69  67 6e 65 64 20 62 79 20  |and Designed by |
00000140  44 6f 6d 69 6e 69 63 20  46 6f 72 64 22 27 27 89  |Dominic Ford"''.|
00000150  28 31 36 29 3b 22 28 43  29 20 31 39 39 37 22 0d  |(16);"(C) 1997".|
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000004f0  f4 20 47 72 61 70 68 69  63 20 69 6e 74 65 72 66  |. Graphic interf|
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00000630  90 20 73 78 2f 28 32 33  2e 37 37 2b 32 2a 73 78  |. sx/(23.77+2*sx|
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00000770  29 2a 31 32 38 30 2c 77  69 64 74 68 0d 01 f4 5f  |)*1280,width..._|
00000780  20 c8 93 20 c8 90 20 28  73 78 2b 35 2e 34 37 29  | .. .. (sx+5.47)|
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00000830  20 c8 90 20 28 73 78 2b  32 33 2e 37 37 29 2f 28  | .. (sx+23.77)/(|
00000840  32 33 2e 37 37 2b 32 2a  73 78 29 2a 31 32 38 30  |23.77+2*sx)*1280|
00000850  2c 73 79 2f 28 31 30 2e  39 37 2b 32 2a 73 79 29  |,sy/(10.97+2*sy)|
00000860  2a 31 30 32 34 2c 77 69  64 74 68 2c 31 30 2e 39  |*1024,width,10.9|
00000870  37 2f 28 31 30 2e 39 37  2b 32 2a 73 79 29 2a 31  |7/(10.97+2*sy)*1|
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0000260e

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