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BioBot/BBReal2

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/BBReal2
Read OK: ✔
File size: 1DF1 bytes
Load address: FFFFFB45
Exec address: BCED6D8C
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 PROCmoveit
  290 REPEAT UNTIL TIME>(T+15)
  300 UNTIL FALSE
  310 :
  320 REM Graphic interface
  330 DEFPROCdrawfull
  340 REM Set up constants
  350 LOCALsx,sy,width
  360 sx=1:sy=2:width=10
  370 REM Draw green court area
  380 CLS:GCOL0,%001100:RECTANGLE FILL 0,0,1279,1023
  390 REM Mark out white lines onto court
  400 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
  410 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
  420 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
  430 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
  440 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
  450 :
  460 REM Draw net
  470 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
  480 GCOL0,%111111:MOVE 682,142:DRAW682,966
  490 PROCdrawmini
  500 ENDPROC
  510 :
  520 REM Draw ballbot and balls
  530 DEFPROCdrawmini
  540 GCOL3,1:FORb=0TO4
  550 IF ball(b,0)<>0 OR ball(b,1)<>0 THEN RECTANGLE FILL ball(b,0),ball(b,1),5,5
  560 NEXT
  570 GCOL3,%110000:RECTANGLE FILL bbx,bby,5,5
  580 ENDPROC
  590 :
  600 REM User interface (putting balls down)
  610 DEFPROCuser
  620 MOUSE x,y,c
  630 IF c=0 THEN ENDPROC
  640 IF (c AND 4)<>0 THEN PROCdrawmini:ball(current,0)=x:ball(current,1)=y:current=(current+1)MOD5:PROCdrawmini
  650 IF (c AND 2)<>0 THEN idle=FALSE:stage=0:start=TIME
  660 REPEAT
  670 MOUSE x,y,c
  680 UNTIL c=0
  690 ENDPROC
  700 :
  710 REM Calculate ballbot's new position
  720 DEFPROCmoveit
  730 IF (left AND fwd) OR (right AND reverse) THEN dir=dir-2.5*(1+3*turbo)
  740 IF (right AND fwd) OR (left AND reverse) THEN dir=dir+2.5*(1+3*turbo)
  750 :
  760 REM Get direction in range 0<theta<360
  770 REPEAT IF dir<0 THEN dir=dir+360
  780 IF dir>=360 THEN dir=dir-360
  790 UNTIL dir>=0 AND dir<360
  800 :
  810 fr=0:IF fwd THEN fr=fr+0.25
  820 IF reverse THEN fr=fr-0.25
  830 IF turbo THEN fr=fr*4
  840 PROCdrawmini:bbx=bbx+16*SIN(PI*dir/180)*fr
  850 bby=bby+16*COS(PI*dir/180)*fr
  860 FORball=0TO4:IF ABS(bbx-ball(ball,0))<10 AND ABS(bby-ball(ball,1))<10 THEN ball(ball,0)=0
  870 NEXT:PROCdrawmini
  880 ENDPROC
  890 :
  900 REM Calculate ballbot's background echo reading (-balls)
  910 DEFFNback(x,y,freq)
  920 REM Calculate Angle of net as seen by Ballbot
  930 LOCAL freqa
  940 netlow=(FNangle(640,923,x,y)-dir) MOD 360
  950 IF netlow<0 THEN netlow=netlow+360
  960 IF netlow>180 THEN netlow=netlow-360
  970 nethi=(FNangle(640,100,x,y)-dir) MOD 360
  980 IF nethi<0 THEN nethi=nethi+360
  990 IF nethi>180 THEN nethi=nethi-360
 1000 :
 1010 REM Calculate reading
 1020 freqa=freq+RND(6)-3
 1030 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)
 1040 =freqa
 1050 :
 1060 REM Calculate Ballbot's readings (MAIN ROUTINE)
 1070 :
 1080 DEFPROCsense
 1090 REM Get background readings from FNback
 1100 freq=RND(250)+1500:fa$="U":fb$=fa$:fc$=fa$:fd$=fa$
 1110 freqa=FNback(bbx,bby,freq):IF ABS(freq-freqa)>5 THEN fa$="N"
 1120 dir=dir-30:freqb=FNback(bbx,bby,freq):IF ABS(freq-freqb)>5 THEN fb$="N"
 1130 dir=dir+60:freqc=FNback(bbx,bby,freq):IF ABS(freq-freqc)>5 THEN fc$="N"
 1140 dir=dir-105:freqd=FNback(bbx,bby,freq):dir=dir+75:IF ABS(freq-freqd)>5 THEN fd$="N"
 1150 :
 1160 REM Add any relevant balls to readings (using hairy trigonometry)
 1170 :
 1180 FORball=0TO4
 1190 d%=SQR((ball(ball,0)-bbx)^2+(ball(ball,1)-bby)^2)
 1200 IF ball(ball,0)=0 THEN d%=9999
 1210 a=FNangle(ball(ball,0),ball(ball,1),bbx,bby)-dir
 1220 IF ABS(a)<15 AND freqa>d% THEN freqa=d%:fa$="B"
 1230 IF a>-46 AND a<=-15 AND freqb>d% THEN freqb=d%:fb$="B"
 1240 IF a>=15 AND a<46 AND freqc>d% THEN freqc=d%:fc$="B"
 1250 IF a>-90 AND a<=-46 AND freqd>d% THEN freqd=d%:fd$="B"
 1260 NEXT
 1270 :
 1280 REM Update user displays
 1290 :
 1300 PRINTTAB(0,0)INT((TIME-start)/6000);":";(INT((TIME-start)/100)MOD60);" "
 1310 PRINTTAB(0,31)INT(freqd),INT(freqb),INT(freqa),INT(freqc),stage,INT(searching),left,right;
 1320 SOUND 1,-1,freqa/4,5:SOUND 2,-1,freqb/4,5:SOUND 3,-1,freqc/4,5
 1330 ENDPROC
 1340:
 1350 REM Calculate bearing of B from A
 1360 DEFFNangle(x1,y1,x2,y2)
 1370 IF y2=y1 THEN ang=90 ELSE ang=180*ATN((x2-x1)/(y2-y1))/PI
 1380 IF (y2>y1) THEN ang=ang+180
 1390 IF ang<0 THEN ang=ang+360
 1400 =ang MOD 360
 1410 :
 1420 REM BALLBOT ROBOTIC INTELLIGENCE MODULE
 1430 :
 1440 DEFFNai(freqa,freqb,freqc)
 1450 REM Artificial intelligence routines (ie. What Next??)
 1460 LOCALfwd,reverse,left,right,turbo
 1470 fwd=TRUE:reverse=FALSE:left=FALSE:right=FALSE:turbo=FALSE
 1480 :
 1490 REM What stage are we in? Hunt for balls or move to new area?
 1500 IF near<>0 AND stage<8 THEN PROCdonearstuff
 1510 IF near=0 AND (stage=0 OR stage=2) THEN PROChunt
 1520 IF near=0 AND (stage=1 OR stage=3) THEN PROCmoveout
 1530 IF stage=4 THEN PROCreleaseb
 1540 :
 1550 REM Prepare output into binary for transmission
 1560 feed=0:IF fwd THEN feed=feed+1
 1570 IF reving THEN turbo=TRUE
 1580 IF reverse THEN feed=feed+2
 1590 IF left THEN feed=feed+4
 1600 IF right THEN feed=feed+8
 1610 IF turbo THEN feed=feed+16
 1620 =feed
 1630 :
 1640 REM Perform a sweep to find any balls
 1650 DEFPROChunt
 1660 REM Watch out if too near to net
 1670 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
 1680 reving=FALSE
 1690 :
 1700 REM If Ball is out of reach in the "D" sector, reverse!
 1710 FDR=freqd*1.25:IF fd$="B" AND FDR<freqa AND FDR<freqb AND FDR<freqc AND (fa$<>"B" OR freqa>100) AND (fb$<>"B" OR freqb>100) AND (fc$<>"B" OR freqc>100) THEN reverse=TRUE:fwd=FALSE:right=TRUE:farleft=6:ENDPROC
 1720 IF farleft>0 THEN farleft=farleft-1:reverse=TRUE:fwd=FALSE:right=TRUE:ENDPROC
 1730 :
 1740 REM Rotate to face ball
 1750 IF fa$="B" THEN searching=searching/2:turbo=freqa>100:ENDPROC
 1760 IF fb$="B" THEN left=TRUE:ENDPROC
 1770 IF fc$="B" THEN right=TRUE:ENDPROC
 1780 REM If no ball in sight, continue rotation...
 1790 align=FALSE:searching=searching+1:IF searching<5 THEN right=TRUE ELSE left=TRUE
 1800 IF searching>150 THEN stage=stage+1
 1810 ENDPROC
 1820 :
 1830 REM Find edge of net and aim for it to move to other side
 1840 DEFPROCmoveout
 1850 REM Watch out if too near to net
 1860 IF (freqa<30 OR freqb<30 OR freqc<30) OR (reving AND (freqa<125 OR freqb<125 OR freqc<125)) THEN reving=TRUE:reverse=TRUE:fwd=FALSE:left=FALSE:right=FALSE:ENDPROC
 1870 reving=FALSE
 1880 REM Align ballbot to face the net post...
 1890 IF freqd<75 AND freqb>(freqd*1.5) AND fb$="N" THEN farleft=5:left=TRUE:turbo=TRUE:ENDPROC
 1895 IF farleft>0 THEN farleft=farleft-1:left=TRUE:turbo=TRUE:ENDPROC
 1900 IF freqa<350 THEN right=TRUE:ENDPROC
 1910 IF freqb<freqd AND freqb<60 AND freqa>200 AND fb$="N" THEN right=TRUE:near=1:ENDPROC
 1920 IF freqa<200 AND freqb<200 AND freqc<200 THEN right=TRUE:ENDPROC
 1930 IF (freqb*1.5)>freqc THEN left=TRUE:ENDPROC
 1940 IF freqb>100 THEN turbo=TRUE
 1950 ENDPROC
 1960 :
 1970 REM Nearly there... Just need a little nudge in the right direction.
 1980 DEFPROCdonearstuff
 1990 near=near+1
 2000 IF near<8 THEN right=TRUE:ENDPROC
 2010 left=TRUE
 2020 IF near>16 THEN near=0:stage=stage+1:searching=0
 2030 ENDPROC
 2040 :
 2050 REM Initialise BallBot variables at the beginning of a run
 2060 DEFPROCsetupbb
 2070 reving=FALSE:left=FALSE:right=FALSE:fwd=FALSE:reverse=FALSE:searching=0:idle=TRUE
 2080 near=FALSE:farleft=0
 2090 ENDPROC
 2100 :
 2110 DEFPROCreleaseb
 2120 REM Got all the balls, now just dump them!
 2130 near=near+1:reverse=TRUE:fwd=FALSE
 2140 IF near>9 THEN idle=TRUE:near=FALSE
 2150 ENDPROC
 2160 REPEAT:FORX=1TO12:OSCLI"CHANNELVOICE 1 "+STR$X:SOUND1,-10,52,100:FORR=0TO10000:NEXT,:UNTIL FALSE


 � 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
 �moveit
" � � �>(T+15)
, � �
6 :
@ � Graphic interface
J ��drawfull
T � Set up constants
^ �sx,sy,width
h sx=1:sy=2:width=10
r � Draw green court area
|% �:�0,%001100: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
�� 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
 �3,1:�b=0�4
&B � ball(b,0)<>0 � ball(b,1)<>0 � ȓ Ȑ ball(b,0),ball(b,1),5,5
0 �
:! �3,%110000:ȓ Ȑ bbx,bby,5,5
D �
N :
X* � User interface (putting balls down)
b ��user
l
 ȗ x,y,c
v � 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
  :
* fr=0:� fwd � fr=fr+0.25
4 � reverse � fr=fr-0.25
> � turbo � fr=fr*4
H) �drawmini:bbx=bbx+16*�(�*dir/180)*fr
R bby=bby+16*�(�*dir/180)*fr
\Q �ball=0�4:� �(bbx-ball(ball,0))<10 � �(bby-ball(ball,1))<10 � ball(ball,0)=0
f �:�drawmini
p �
z :
�; � Calculate ballbot's background echo reading (-balls)
� ݤback(x,y,freq)
�0 � Calculate Angle of net as seen by Ballbot
� � freqa
�+ netlow=(�angle(640,923,x,y)-dir) � 360
�# � netlow<0 � netlow=netlow+360
�% � netlow>180 � netlow=netlow-360
�* nethi=(�angle(640,100,x,y)-dir) � 360
�  � nethi<0 � nethi=nethi+360
�" � nethi>180 � nethi=nethi-360
� :
� � 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
 :
$2 � Calculate Ballbot's readings (MAIN ROUTINE)
. :
8 ��sense
B* � Get background readings from FNback
L5 freq=�(250)+1500:fa$="U":fb$=fa$:fc$=fa$:fd$=fa$
V: freqa=�back(bbx,bby,freq):� �(freq-freqa)>5 � fa$="N"
`E dir=dir-30:freqb=�back(bbx,bby,freq):� �(freq-freqb)>5 � fb$="N"
jE dir=dir+60:freqc=�back(bbx,bby,freq):� �(freq-freqc)>5 � fc$="N"
tQ dir=dir-105:freqd=�back(bbx,bby,freq):dir=dir+75:� �(freq-freqd)>5 � fd$="N"
~ :
�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
�, � �(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"
� �
� :
 � Update user displays

 :
: �0,0)�((�-start)/6000);":";(�((�-start)/100)�60);" "
N �0,31)�(freqd),�(freqb),�(freqa),�(freqc),stage,�(searching),left,right;
(7 � 1,-1,freqa/4,5:� 2,-1,freqb/4,5:� 3,-1,freqc/4,5
2 �
<:
F$ � Calculate bearing of B from A
P ݤangle(x1,y1,x2,y2)
Z4 � y2=y1 � ang=90 � ang=180*�((x2-x1)/(y2-y1))/�
d � (y2>y1) � ang=ang+180
n � ang<0 � ang=ang+360
x =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=�
� :
�@ � 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
6 � left � feed=feed+4
@ � right � feed=feed+8
J � turbo � feed=feed+16
T
 =feed
^ :
h( � Perform a sweep to find any balls
r ��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:� fd$="B" � FDR<freqa � FDR<freqb � FDR<freqc � (fa$<>"B" � freqa>100) � (fb$<>"B" � freqb>100) � (fc$<>"B" � freqc>100) � reverse=�:fwd=�:right=�:farleft=6:�
�> � farleft>0 � farleft=farleft-1:reverse=�:fwd=�:right=�:�
� :
� � Rotate to face ball
�8 � fa$="B" � searching=searching/2:turbo=freqa>100:�
� � fb$="B" � left=�:�
� � fc$="B" � right=�:�
�0 � If no ball in sight, continue rotation...
�C align=�:searching=searching+1:� searching<5 � right=� � left=�
$ � searching>150 � stage=stage+1
 �
 :
&< � Find edge of net and aim for it to move to other side
0 ��moveout
:# � Watch out if too near to net
D� � (freqa<30 � freqb<30 � freqc<30) � (reving � (freqa<125 � freqb<125 � freqc<125)) � reving=�:reverse=�:fwd=�:left=�:right=�:�
N
 reving=�
X, � Align ballbot to face the net post...
bJ � freqd<75 � freqb>(freqd*1.5) � fb$="N" � farleft=5:left=�:turbo=�:�
g5 � farleft>0 � farleft=farleft-1:left=�:turbo=�:�
l � freqa<350 � right=�:�
vF � freqb<freqd � freqb<60 � freqa>200 � fb$="N" � right=�:near=1:�
�4 � freqa<200 � freqb<200 � freqc<200 � right=�:�
�# � (freqb*1.5)>freqc � left=�:�
� � freqb>100 � turbo=�
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�G � Nearly there... Just need a little nudge in the right direction.
� ��donearstuff
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� left=�
�1 � near>16 � near=0:stage=stage+1:searching=0
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= � Initialise BallBot variables at the beginning of a run
 ��setupbb
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00001df0  ff                                                |.|
00001df1
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