;-------------------------------------
;         Robot info
;-------------------------------------
; name:		Hunter, ver. 4.10
; created:	22 Jan 2000
; author:	Dmitry N. Finozhenok
; e-mail:	dfn@chat.ru 
;-------------------------------------

#config	scanner=4
#config	heatsinks=2

#def	RotAddr
#def	StartAddr
#def	WorkAddr
#def	FireAddr

#def	throttle
#def	scan_arc
#def	distance
#def	delta

	jne	20
;---------------------------------
;         Variable area
;---------------------------------

	*0 0 0 0
	*0 0 0 0
	*0 0 0 0
	*0 0 1 0
	*0 0 1 0
	*0 0 1 0
	*0 0 1 0
	*0 0 2 0
	*0 0 2 0
	*0 1 2 0
	*0 1 2 0	; 10
	*0 1 2 0
	*0 1 3 0
	*0 1 3 0
	*0 1 3 0
	*0 1 3 0
	*0 1 3 0
	*0 1 4 0
	*0 1 4 0
	*0 1 4 0
	*0 1 4 0	; 20
	*0 1 4 0
	*0 1 4 0
	*0 1 5 0
	*0 1 5 0
	*0 1 5 0
	*0 2 5 0
	*1 2 5 0
	*1 2 5 0
	*1 2 6 0
	*1 2 6 0	; 30
	*1 2 6 0
	*1 2 6 0
	*1 2 6 0
	*1 2 6 0
	*1 2 6 0
	*1 2 6 0
	*1 2 6 0
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0	; 40
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0	; 50
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0	; 60
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0	; 70
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0
	*1 2 7 0
	*1 2 6 0
	*1 2 6 0	; 80
	*1 2 6 0
	*1 2 6 0
	*1 2 6 0
	*1 2 6 0
	*1 2 6 0
	*1 2 6 0
	*1 2 6 0
	*1 2 6 0
	*1 2 5 0
	*1 2 5 0	; 90
	*1 2 5 0
	*1 2 5 0
	*1 2 5 0
	*1 2 5 0
	*1 2 5 0
	*1 2 5 0
	*1 2 4 0
	*1 2 4 0
	*1 2 4 0
	*1 1 4 0	; 100
	*1 1 4 0
	*0 1 4 0
	*0 1 4 0
	*0 1 4 0
	*0 1 3 0
	*0 1 3 0
	*0 1 3 0
	*0 1 3 0
	*0 1 3 0
	*0 1 3 0	; 110
	*0 1 3 0
	*0 1 2 0
	*0 1 2 0
	*0 1 2 0
	*0 1 2 0
	*0 1 2 0
	*0 1 2 0
	*0 1 2 0
	*0 1 1 0
	*0 0 1 0	; 120
	*0 0 1 0
	*0 0 1 0
	*0 0 1 0
	*0 0 1 0
	*0 0 0 0
	*0 0 0 0
	*0 0 0 0
	*0 0 0 0
	*0 0 0 0
	*0 0 0 0	; 130
	*0 0 0 0
	*0 0 -1 0
	*0 0 -1 0
	*0 0 -1 0
	*0 0 -1 0
	*0 0 -1 0
	*0 -1 -1 0
	*0 -1 -2 0
	*0 -1 -2 0
	*0 -1 -2 0	; 140
	*0 -1 -2 0
	*0 -1 -2 0
	*0 -1 -2 0
	*0 -1 -2 0
	*0 -1 -3 0
	*0 -1 -3 0
	*0 -1 -3 0
	*0 -1 -3 0
	*0 -1 -3 0
	*0 -1 -3 0	; 150
	*0 -1 -3 0
	*0 -1 -4 0
	*0 -1 -4 0
	*0 -1 -4 0
	*-1 -1 -4 0
	*-1 -1 -4 0
	*-1 -1 -4 0
	*-1 -2 -4 0
	*-1 -2 -4 0
	*-1 -2 -5 0	; 160
	*-1 -2 -5 0
	*-1 -2 -5 0
	*-1 -2 -5 0
	*-1 -2 -5 0
	*-1 -2 -5 0
	*-1 -2 -5 0
	*-1 -2 -5 0
	*-1 -2 -6 0
	*-1 -2 -6 0
	*-1 -2 -6 0	; 170
	*-1 -2 -6 0
	*-1 -2 -6 0
	*-1 -2 -6 0
	*-1 -2 -6 0
	*-1 -2 -6 0
	*-1 -2 -6 0
	*-1 -2 -6 0
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0	; 180
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0	; 190
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0	; 200
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0	; 210
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -7 0
	*-1 -2 -6 0
	*-1 -2 -6 0	; 220
	*-1 -2 -6 0
	*-1 -2 -6 0
	*-1 -2 -6 0
	*-1 -2 -6 0
	*-1 -2 -6 0
	*-1 -2 -6 0
	*-1 -2 -6 0
	*-1 -2 -5 0
	*-1 -2 -5 0
	*0 -1 -5 0	; 230
	*0 -1 -5 0
	*0 -1 -5 0
	*0 -1 -5 0
	*0 -1 -4 0
	*0 -1 -4 0
	*0 -1 -4 0
	*0 -1 -4 0
	*0 -1 -4 0
	*0 -1 -4 0
	*0 -1 -3 0	; 240
	*0 -1 -3 0
	*0 -1 -3 0
	*0 -1 -3 0
	*0 -1 -3 0
	*0 -1 -2 0
	*0 -1 -2 0
	*0 -1 -2 0
	*0 0 -2 0
	*0 0 -2 0
	*0 0 -1 0	; 250
	*0 0 -1 0
	*0 0 -1 0
	*0 0 -1 0
	*0 0 0 0
	*0 0 0 0

;---------------------------------
;          Program init
;---------------------------------	
:20
	mov	throttle, 100
	mov	scan_arc, 8

	mov	StartAddr, 200
	mov	WorkAddr, 400
	mov	FireAddr, 404
	mov	RotAddr, 402

	out	22, 23
	out	22, 23

	mov	ax, 1
	int	3

	out	11, throttle
	out	17, scan_arc

	je	200
	jne	200

;---------------------------------
;          Heat control
;---------------------------------
:100
	in 	2, ax
	cmp 	ax, 100
	ja 	200

	cmp	StartAddr, 200
	jz	200

	mov	StartAddr, 200
	mov	WorkAddr, 400	

;----------------------------------
;           Move control
;----------------------------------
:200
	cmp	ColCnt, 1
	jb	201
	
	mov	ColCnt, 0
	neg	throttle
	out	11, throttle
:201
	out	14, 2

;----------------------------------
;           Scan control 
;----------------------------------
:300
	in	7, distance
	cmp	distance, 1600
	jb	303

	cmp	scan_arc, 32
	jb	302

	out	12, 64
	jne	307
	je	307
:302
	shl	scan_arc, 2
	jne	306
	je	306
:303
	cmp	scan_arc, 2
	je	WorkAddr

	shr	scan_arc, 2
	mov	ax, scan_arc

	cmp	[3], 1
	ja	304
	je	305

	neg	ax
	cmp	[3], -1
	ja	306
	je	305
:304
	add	ax, ax
:305
	add	ax, ax
	out	12, ax		
:306
	out	17, scan_arc
:307
	jne	200
	je	200

;---------------------------------
;         Fire control
;---------------------------------
:400
	add	delta, [3]
	jne	RotAddr
	je	RotAddr

:401
	out	12, delta
	mov	delta, 0
:402
	jne	FireAddr
	je	FireAddr

:403
	out	15, delta
:404		
	out	15, delta
	out	15, delta

	mov	scan_arc, 8
	mov	WorkAddr, 500
	mov	StartAddr, 100
	jne	StartAddr
	je	StartAddr

;---------------------------------
;     Calculate move delta
;---------------------------------
:500
	mov	fx, [13]
	mov 	ex, [6]

	cmp fx, 0
	ja 501
	neg fx
	xor ex, 128
:501
	mov	delta, 0
	mov	bx, 1030
	shl	ex, 2
	add	bx, ex

	shr	fx, 7
	jne	fx
	je	fx

:1
	sub	bx, 2
	mov	delta, [bx]
	jne	510
	je	510

:2
	sub	bx, 1
	mov	delta, [bx]
	jne	510
	je	510

:3
	add	delta, [bx]
	add	delta, [bx]
	add	delta, [bx]
	shr	delta, 2
:0
	jne	510
	je	510

:7
	add	delta, [bx]
:6
	add	delta, [bx]
:5
	add	delta, [bx]
	shr	delta, 2
:4
	add	delta, [bx]
	jne	511
	je	511

:510
	mov	RotAddr, 402
	jne	520
	je	520
:511
	mov	RotAddr, 401

:520
	cmp	distance, 500
	ja	521

	mov	FireAddr, 403
	jne	StartAddr
	je	StartAddr

:521
	mov	FireAddr, 404
	jne	StartAddr
	je	StartAddr