; Bubu 2 made in Brazil by Me (lol). 
; e-mail me: dynamycs@hotmail.com

; This robot has been written from scratch and it's very mobile (bubu v1 was moveless).
; It's atack system is independent of it's mobile sys. This means that he doesnt always
; go where the target is.
;
; Some of it's main features are:
; * Keep out of walls
; * Shot correction depending on the distance of target
; * Randon movement. This means that it may vary from match to match
; * Always fire. @3 dont need to be = 0 to ocuur a fire.

#msg Brazil is wonderfull!!!

#config scanner=3
#config engine=4
#config armor=2
#config heatsinks=1
#config weapon=2
#config mines=0
#config shield=0

#def arc!
#def trgt
#def heat
#def last

#def right
#def left
#def hleft
#def hright

	opo	11	100		; set throttle
	opo	22	15		; lay mine
	opo	22	15		; lay mine
					;
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
					;
!gotoMIDDLE				;
        ipo     10      ex      	; Get random number
        and     ex      400       	; now it's 0-400
        add     ex      200		; now it's 200-600
        ipo     10      fx      	; Get random number
        and     fx      400       	; now it's 0-400
        add     fx      200		; now it's 200-6
        int     7			; find angle to X(ex),Y(fx)
        mov     bx,     @1      	; get current desired heading
                                	; (not actual heading)
        and     ax,     255     	; Fix ax into 0-255.
        sub     ax,     bx      	; get number of degrees to turn.
        opo     14,     ax      	; turn!
					;
					;
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
					;
!start					;
	mov	arc!	64		; arc! = 64
	opo	12	128		; flip turret
					;
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
					;
!turretARC				;
	opo	17	arc!		; scanner arc = arc!
					;
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
					;
!stealtSCAN				;
					;
!checkwall!				; This robot have a getoutofwall system (GPS)
	int	2			; what is our location (ex = X, fx = Y cord)
					;
!checkleft				;
	cmp	ex	200		; compare ex to 200
	jae	!checkright		; if ex > 200 -> !checkright
	jb	!gotoMIDDLE		; else, -> !gotoMIDDLE
					;
!checkright				;
	cmp	ex	800		; compare ex to 800
	jb	!checktop		; if ex < 800 -> !checktop
	jae	!gotoMIDDLE		; else, -> !gotoMIDDLE
					;
!checktop				;
	cmp	fx	200		; compare fx to 200
	jae	!checkbotton		; if fx > 100 -> !checkbotton
	jb	!gotoMIDDLE		; else, -> !gotoMIDDLE
					;
!checkbotton				;
	cmp	fx	800		; compare ex to 800
	jae	!gotoMIDDLE		; else, -> !gotoMIDDLE
					;
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

	ipo	7	trgt		; scan, result of scan in trgt
	cmp	trgt	1500		; anybody in range?
	ja	!nobody			; no damn -> !nobody ;)
	shr	trgt	7		; divide trgt, results: 0 = near, 1 = still near
					; 2 = mediun distance, 3 = little distant, 4 and 5 = far
	add	trgt	2000		; trgt = trgt + 2000
	;err	trgt
	jle	trgt			; jump to label(trgt)
					;
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
					; this is the improvement for the shot
:2000					;
	mov	left	-4		; left = -4
	mov	hleft	-3		; hleft = -3
	mov	right	4		; right = 4
	mov	hright	3		; hright = 3
	jle	!CorrEctIons		; -> !CorrEctIons
					;
:2001					;
	mov	left	-4		; left = -4
	mov	hleft	-3		; hleft = -3
	mov	right	4		; right = 4
	mov	hright	3		; hright = 3
	jle	!CorrEctIons		; -> !CorrEctIons
					;
:2002					;
	mov	left	-3		; left = -3
	mov	hleft	-2		; hleft = -3h
	mov	right	3		; right = 3
	mov	hright	2		; hright = 3
	jle	!CorrEctIons		; -> !CorrEctIons
:2003					;
	mov	left	-3		; left = -3
	mov	hleft	-2		; hleft = -2
	mov	right	3		; right = 3
	mov	hright	2		; hright = 2
	jle	!CorrEctIons		; -> !CorrEctIons
:2004					;
	mov	left	-2		; left = -2
	mov	hleft	-1		; hleft = -2
	mov	right	2		; right = 2
	mov	hright	1		; hright = 2
	jle	!CorrEctIons		; -> !CorrEctIons
:2005					;
	mov	left	-2		; left = -2
	mov	hleft	-1		; hleft = -1
	mov	right	2		; right = 2
	mov	hright	1		; hright = 1
					;
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
					;
!CorrEctIons				;
	cmp	@3	0		; else, is it straight ahead?
	je	!fire			; yes, fire!
	ja	!right			; if a bit right -> !right
					;
;left					; elseif a bit left do code bellow
	cmp	@3	-2		; how much left is it?
	jne	!hleft			; halfway? then -> !hleft
	mov	last	left		; else, last = left
	mov	ax	arc!		; ax = arc!
	neg	ax			; ax = 0 - ax
	opo	12	ax		; turn turrret ax amount
	je	!fire			; -> !fire
					;
!hleft					;
	mov	last	hleft		; last = hleft
	mov	ax	arc!		; ax = arc!
	shr	ax	1		; arc = arc! / 2
	neg	ax			; ax = 0 - ax