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biobot/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 » misc » misc2
Filename: biobot/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
  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:COLOUR4,0,255,255:COLOUR5,0,0,0:COLOUR6,0,255,255
  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 IF (left AND fwd) OR (right AND reverse) THEN dir=dir-2.5*(1-3*turbo)
  830 IF (right AND fwd) OR (left AND reverse) THEN dir=dir+2.5*(1-3*turbo)
  840 :
  850 REM Get direction in range 0<theta<360
  860 REPEAT IF dir<0 THEN dir=dir+360
  870 IF dir>=360 THEN dir=dir-360
  880 UNTIL dir>=0 AND dir<360
  890 :
  900 fr=0:IF fwd THEN fr=fr+0.25
  910 IF reverse THEN fr=fr-0.25
  920 IF turbo THEN fr=fr*4
  930 PROCdrawmini:bbx=bbx+16*SIN(PI*dir/180)*fr
  940 bby=bby+16*COS(PI*dir/180)*fr
  950 FORball=0TO4:IF open AND 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 IF min<0 THEN min=min+360 ELSE IF min>360 THEN min=min-360
 1020 IF max<0 THEN max=max+360 ELSE IF max>360 THEN max=max-360
 1030 LOCAL hit,dist:hit=0:dist=0
 1040 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)
 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*min/180):hit=(640-bbx)/TAN(PI*min/180)+bby
 1060 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
 1070 IF hit>923 OR hit<100 OR dist<0 THEN ftype$="U":=freq+RND(6)-3
 1080 IF hit>900 OR hit<123 THEN ftype$="P":=dist
 1090 ftype$="N"
 1100 =dist
 1110 :
 1120 REM Calculate Ballbot's readings (MAIN ROUTINE)
 1130 :
 1140 DEFPROCsense
 1150 REM Get background readings from FNback
 1160 freq=RND(250)+1500
 1170 freqa=FNback(freq,dir-15,dir+15):fa$=ftype$
 1180 freqb=FNback(freq,dir-45,dir-15):fb$=ftype$
 1190 freqc=FNback(freq,dir+15,dir+45):fc$=ftype$
 1200 freqd=FNback(freq,dir-90,dir-45):fd$=ftype$
 1210 :
 1220 REM Add any relevant balls to readings (using hairy trigonometry)
 1230 :
 1240 FORball=0TO4
 1250 d%=SQR((ball(ball,0)-bbx)^2+(ball(ball,1)-bby)^2)
 1260 IF ball(ball,0)=0 THEN d%=9999
 1270 a=FNangle(ball(ball,0),ball(ball,1),bbx,bby)-dir:IFa>180 THEN a=a-360
 1280 IF ABS(a)<15 AND freqa>d% THEN freqa=d%:fa$="B"
 1290 IF a>-46 AND a<=-15 AND freqb>d% THEN freqb=d%:fb$="B"
 1300 IF a>=15 AND a<46 AND freqc>d% THEN freqc=d%:fc$="B"
 1310 IF a>-90 AND a<=-46 AND freqd>d% THEN freqd=d%:fd$="B"
 1320 NEXT
 1330 :
 1340 REM Update user displays
 1350 :
 1360 IF type$="2" THEN ENDPROC
 1370 PRINTTAB(0,0)INT((TIME-start)/6000);":";(INT((TIME-start)/100)MOD60);" "
 1380 PRINTTAB(0,31)fd$,fb$,fa$,fc$,stage,INT(searching),left,right,opencter;
 1390 SOUND 1,-1,freqa/4,5:SOUND 2,-1,freqb/4,5:SOUND 3,-1,freqc/4,5
 1400 ENDPROC
 1410:
 1420 REM Calculate bearing of B from A
 1430 DEFFNangle(x1,y1,x2,y2)
 1440 IF y2=y1 THEN ang=90 ELSE ang=180*ATN((x2-x1)/(y2-y1))/PI
 1450 IF (y2>y1) THEN ang=ang+180
 1460 IF ang<0 THEN ang=ang+360
 1470 =ang MOD 360
 1480 :
 1490 REM Computer Monitor of BallBot's progress
 1500 DEFPROCcompmon
 1510 IF idle AND (ball(0,0)<>0 OR ball(1,0)<>0 OR ball(2,0)<>0 OR ball(3,0)<>0 OR ball(4,0)<>0) THEN st$="Fail" ELSE st$="Pass"
 1520 IF idle THEN PRINTst$,INT((TIME-start)/6000);":";(INT((TIME-start)/100)MOD60)
 1530 IF TIME>start+36000 THEN idle=TRUE:PRINT"Time","****"
 1540 IFbbx>630ANDbbx<650ANDbby>100ANDbby<923THENidle=TRUE:PRINT"Crash","****"
 1550 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
 1560 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
 1570 ENDPROC
 1580 :
 1590 REM BALLBOT ROBOTIC INTELLIGENCE MODULE
 1600 :
 1610 DEFFNai(freqa,freqb,freqc)
 1620 REM Artificial intelligence routines (ie. What Next??)
 1630 LOCALfwd,reverse,left,right,turbo
 1640 fwd=TRUE:reverse=FALSE:left=FALSE:right=FALSE:turbo=FALSE
 1650 :
 1660 REM What stage are we in? Hunt for balls or move to new area?
 1670 IF near<>0 AND stage<8 THEN PROCdonearstuff
 1680 IF near=0 AND (stage=0 OR stage=2) THEN PROChunt
 1690 IF near=0 AND (stage=1 OR stage=3) THEN PROCmoveout
 1700 IF stage=4 THEN PROCreleaseb
 1710 :
 1720 REM Prepare output into binary for transmission
 1730 feed=0:IF fwd THEN feed=feed+1
 1740 IF reving THEN turbo=TRUE
 1750 IF reverse THEN feed=feed+2
 1760 IF left THEN feed=feed+4
 1770 IF right THEN feed=feed+8
 1780 IF turbo THEN feed=feed+16
 1790 IF opencter>0 THEN feed=feed+32
 1800 =feed
 1810 :
 1820 REM Perform a sweep to find any balls
 1830 DEFPROChunt
 1840 REM Watch out if too near to net
 1850 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
 1860 reving=FALSE
 1870 :
 1880 REM If Ball is out of reach in the "D" sector, reverse!
 1890 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
 1900 IF farleft>0 THEN
 1910  farleft=farleft-1:reverse=TRUE:fwd=FALSE:right=TRUE:turbo=TRUE
 1920  IF fa$="B" OR (fd$<>"B" AND fb$<>"B") THEN farleft=0
 1930  ENDPROC
 1940 ENDIF
 1950 :
 1960 REM Rotate to face ball
 1970 IF (fb$="B" AND freqb>150) OR (fd$="B" AND freqd>150) THEN tending=0
 1980 IF fc$="B" AND freqc>150 THEN tending=1
 1990 IF opencter>0 THEN opencter=opencter-1:ENDPROC
 2000 opencter=-5*(((freqa<20)ANDfa$="B")OR((freqb<20)ANDfb$="B")OR((freqc<20)ANDfc$="B")OR((freqd<20)ANDfd$="B"))
 2010 IF fa$="B" THEN left=(steer=-1):right=(steer=1):steer=0:searching=searching/2:turbo=freqa>100:ENDPROC
 2020 IF fb$="B" OR fd$="B" THEN steer=-1:left=TRUE:ENDPROC
 2030 IF fc$="B" THEN steer=1:right=TRUE:ENDPROC
 2040 REM If no ball in sight, continue rotation...
 2050 align=FALSE:searching=searching+1
 2060 IF (tending AND 1)<>0 THEN right=TRUE ELSE left=TRUE
 2070 IF searching=5 THEN tending=(tending EOR 1)
 2080 IF searching>150 THEN stage=stage+1
 2090 ENDPROC
 2100 :
 2110 REM Find edge of net and aim for it to move to other side
 2120 DEFPROCmoveout
 2130 REM Watch out if too near to net
 2140 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
 2150 reving=FALSE
 2160 REM Align ballbot to face the net post...
 2170 IF fa$="N" OR fa$="P" THEN right=TRUE:ENDPROC
 2180 IF fb$<>"N" AND fb$<>"P" THEN left=TRUE:ENDPROC
 2190 IF fb$="P" AND freqb<150 THEN right=TRUE:near=1:ENDPROC
 2200 turbo=TRUE
 2210 ENDPROC
 2220 :
 2230 REM Nearly there... Just need a little nudge in the right direction.
 2240 DEFPROCdonearstuff
 2250 near=near+1
 2260 IF near<16 THEN right=TRUE:ENDPROC
 2270 left=TRUE
 2280 IF near>32 THEN near=0:stage=stage+1:searching=0:tending=1
 2290 ENDPROC
 2300 :
 2310 REM Initialise BallBot variables at the beginning of a run
 2320 DEFPROCsetupbb
 2330 reving=FALSE:left=FALSE:right=FALSE:fwd=FALSE:reverse=FALSE:searching=0:idle=TRUE
 2340 near=FALSE:farleft=0:opencter=0:tending=1:steer=0
 2350 ENDPROC
 2360 :
 2370 DEFPROCreleaseb
 2380 REM Got all the balls, now just dump them!
 2390 near=near+1:reverse=TRUE:fwd=FALSE
 2400 IF near>9 THEN idle=TRUE:near=FALSE
 2410 ENDPROC
 2420 REPEAT:FORX=1TO12:OSCLI"CHANNELVOICE 1 "+STR$X:SOUND1,-10,52,100:FORR=0TO10000:NEXT,:UNTIL FALSE
 2430 :
 2440 REM Whizz-back to line up with D - what if whizz back into net?
 2450 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$="1" � �user � �compmon
� � idle � � �
� �sense
� mov=�ai(freqa,freqb,freqc)
 fwd=(mov � 1)<>0
 reverse=(mov � 2)<>0
 left=(mov � 4)<>0
" right=(mov � 8)<>0
, turbo=(mov � 16)<>0
6 open=(mov � 32)<>0
@ �moveit
T � � �>(T+15)
^ � �
h :
r � Graphic interface
| ��drawfull
� � Set up constants
� �sx,sy,width
� sx=1:sy=2:width=10
� � Setup Colours
�V �0,0,64,0:�1,255,0,0:�2,255,255,255:�3,255,0,0:�4,0,255,255:�5,0,0,0:�6,0,255,255
� :
� � Draw green court area
� �:�0,0:ȓ Ȑ 0,0,1279,1023
�& � Mark out white lines onto court
� �0,2:ȓ Ȑ sx/(23.77+2*sx)*1280,sy/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width:ȓ Ȑ sx/(23.77+2*sx)*1280,(1.37+sy)/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width
� ȓ Ȑ sx/(23.77+2*sx)*1280,(9.6+sy)/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width:ȓ Ȑ sx/(23.77+2*sx)*1280,(10.97+sy)/(10.97+2*sy)*1024,23.77/(23.77+2*sx)*1280,width
�_ ȓ Ȑ (sx+5.47)/(23.77+2*sx)*1280,(sy+5.49)/(10.97+2*sy)*1024,12.8/(23.77+2*sx)*1280,width
�� ȓ Ȑ sx/(23.77+2*sx)*1280,sy/(10.97+2*sy)*1024,width,10.97/(10.97+2*sy)*1024:ȓ Ȑ (sx+23.77)/(23.77+2*sx)*1280,sy/(10.97+2*sy)*1024,width,10.97/(10.97+2*sy)*1024+width
� ȓ Ȑ (sx+5.47)/(23.77+2*sx)*1280,(sy+1.37)/(10.97+2*sy)*1024,width,8.23/(10.97+2*sy)*1024:ȓ Ȑ (sx+18.3)/(23.77+2*sx)*1280,(sy+1.37)/(10.97+2*sy)*1024,width,8.23/(10.97+2*sy)*1024
 :
 � Draw net
&� �0,5:�l=100�924�10:� 640,l:� 680,l+50:�:�l=0�40�10:� 640+l,100+l:�640+l,924+l:�:�l=0�5:�637+l,100:�677+l,150:�637+l,924:�677+l,974:�
0 �0,2:� 682,142:�682,966
: �drawmini
D �
N :
X � Draw ballbot and balls
b ��drawmini
l � type$="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
4A � (left � fwd) � (right � reverse) � dir=dir-2.5*(1-3*turbo)
>A � (right � fwd) � (left � reverse) � dir=dir+2.5*(1-3*turbo)
H :
R) � Get direction in range 0<theta<360
\ � � dir<0 � dir=dir+360
f � dir>=360 � dir=dir-360
p � dir>=0 � dir<360
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
8+ � hit>900 � hit<123 � ftype$="P":=dist
B ftype$="N"
L
 =dist
V :
`2 � Calculate Ballbot's readings (MAIN ROUTINE)
j :
t ��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-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$="B"
( �
2 :
< � Update user displays
F :
P � type$="2" � �
Z: �0,0)�((�-start)/6000);":";(�((�-start)/100)�60);" "
dC �0,31)fd$,fb$,fa$,fc$,stage,�(searching),left,right,opencter;
n7 � 1,-1,freqa/4,5:� 2,-1,freqb/4,5:� 3,-1,freqc/4,5
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=�
" �
, :
6* � BALLBOT ROBOTIC INTELLIGENCE MODULE
@ :
J ݤai(freqa,freqb,freqc)
T9 � Artificial intelligence routines (ie. What Next??)
^" �fwd,reverse,left,right,turbo
h+ fwd=�:reverse=�:left=�:right=�:turbo=�
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
0# � 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=�:�
D
 reving=�
N :
X: � If Ball is out of reach in the "D" sector, reverse!
b� 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):�
l � farleft>0 �
v7  farleft=farleft-1:reverse=�:fwd=�:right=�:turbo=�
�3  � 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
H ��moveout
R# � Watch out if too near to net
\� � (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):�
f
 reving=�
p, � Align ballbot to face the net post...
z$ � fa$="N" � fa$="P" � right=�:�
�% � 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 :
	B ��releaseb
	L- � Got all the balls, now just dump them!
	V  near=near+1:reverse=�:fwd=�
	` � near>9 � idle=�:near=�
	j �
	tD �:�X=1�12:�"CHANNELVOICE 1 "+�X:�1,-10,52,100:�R=0�10000:�,:� �
	~ :
	�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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00000060  64 20 31 39 39 37 0d 00  28 06 20 3a 0d 00 32 15  |d 1997..(. :..2.|
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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 56 20 20  6e 65 61 72 3d 6e 65 61  |em!..V  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 60 1d 20  e7 20 6e 65 61 72 3e 39  |d=...`. . near>9|
00002420  20 8c 20 69 64 6c 65 3d  b9 3a 6e 65 61 72 3d a3  | . idle=.:near=.|
00002430  0d 09 6a 06 20 e1 0d 09  74 44 20 f5 3a e3 58 3d  |..j. ...tD .:.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 7e 06 20 3a  |000:.,:. ...~. :|
00002480  0d 09 88 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 92 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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