;-------------------------------------
;         Robot info
;-------------------------------------
; name:		Fire, version 2.1
; created:	6 Jan 2000
; author:	Dmitry N. Finozhenok
; e-mail:	dfn@chat.ru 
;-------------------------------------

#def	throttle
#def	scan_arc
#def	distance

;---------------------------------
;              Program init
;---------------------------------	
	mov	ax, 1
	int	3			; set keepshift

	mov	throttle, 100
	out	11, throttle		; full throttle

	mov	scan_arc, 64		; max scan arc

;---------------------------------
;              Main loop
;---------------------------------
!start
	call	!scan
	call	!move
!heat
	in 	2, ax
	cmp 	ax, 250
	jb 	!start
	call	!move
	jmp	!heat

;----------------------------------
;           Move control
;----------------------------------
!move
	cmp	ColCnt, 1
	jb	!donemove
	
	mov	ColCnt, 0
	neg	throttle
	out	11, throttle
!donemove
	out	14, 2
	ret

;----------------------------------
;           Scan control 
;----------------------------------
!scan
	out	17, scan_arc
	in	7, distance
	cmp	distance, 1600
	jb	!found

	cmp	scan_arc, 64
	jb	!scan_wide

	out	12, 128
	jmp	!donescan
!scan_wide
	shl	scan_arc, 1
	jmp	!donescan
!found
	cmp	scan_arc, 2
	ja	!scan_more

	call	!delta
	add	ax, [3]

	cmp	ax, 4
	ja	!real_rot
	cmp	ax, -4
	jb	!real_rot
	jmp	!fire

!real_rot
	out	12, ax
	mov	ax, ax
!fire
	cmp	distance, 500
	out	15, ax		
	out	15, ax
	ja	!donescan
	out	15, ax
	jmp	!donescan

!scan_more
	cmp	[3], 0
	je	!scan_0
	jb	!scan_minus

	cmp	[3], 1
	jne	!scan_p2

	shr	scan_arc, 1
	out	12, scan_arc
	shr	scan_arc, 1
	jmp	!donescan
!scan_0
	shr	scan_arc, 2
	jmp	!donescan
!scan_p2
	out	12, scan_arc
	shr	scan_arc, 2
	jmp	!donescan
!scan_minus
	cmp	[3], -1
	jne	!scan_m2

	shr	scan_arc, 1
	mov	ax, scan_arc
	shr	scan_arc, 1
	neg	ax
	out	12, ax
	jmp	!donescan
!scan_m2
	mov	ax, scan_arc
	neg	ax
	out	12, ax
	shr	scan_arc, 2
		
!donescan
	cmp	scan_arc, 1
	ja	!scanend
	mov	scan_arc, 2
!scanend
	ret

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

	cmp fx, 0
	ja !move_forward
	neg fx
	xor ex, 128
!move_forward
	mov dx, 1
	cmp ex, 128
	jb !right_half
	mov dx, -1
	sub ex, 256
	neg ex
!right_half
	cmp fx, 350
	ja !vel_4
	cmp fx, 250
	ja !vel_3
	cmp fx, 150
	ja !vel_2
	cmp fx, 50
	ja !vel_1
	jmp !angle_0
!vel_1
	cmp ex, 16
	jb !angle_0
	cmp ex, 112
	jb !angle_1
	jmp !angle_0
!vel_2
	cmp	ex, 54
	jb	!vel_2_1
	cmp	ex, 100
	ja	!vel_2_2
	jmp	!angle_3
!vel_2_1
	cmp	ex, 24
	ja	!angle_2
	cmp	ex, 7
	ja	!angle_1
	jmp	!angle_0
!vel_2_2
	cmp ex, 120
	jb !angle_1
	jmp !angle_0
!vel_3
	cmp	ex, 40
	jb	!vel_3_1
	cmp	ex, 77
	ja	!vel_3_2
	jmp	!angle_4
!vel_3_1
	cmp	ex, 26
	ja	!angle_3
	cmp	ex, 14
	ja	!angle_2
	cmp	ex, 4
	ja	!angle_1
	jmp	!angle_0
!vel_3_2
	cmp 	ex, 97
	jb 	!angle_3
	cmp 	ex, 111
	jb 	!angle_2
	cmp 	ex, 123
	jb 	!angle_1
	jmp 	!angle_0
!vel_4
	cmp	ex, 80
	ja	!vel_4_2
	cmp	ex, 41
	jb	!vel_4_1
	jmp	!angle_5
!vel_4_1
	cmp	ex, 28
	ja	!angle_4
	cmp	ex, 19
	ja	!angle_3
	cmp	ex, 11
	ja	!angle_2
	cmp	ex, 3
	ja	!angle_1
	jmp	!angle_0
!vel_4_2
	cmp 	ex, 95
	jb 	!angle_4
	cmp 	ex, 105
	jb 	!angle_3
	cmp 	ex, 115
	jb 	!angle_2
	cmp 	ex, 124
	jb 	!angle_1
!angle_0
	mov 	ax, 0
	jmp 	!deltadone
!angle_1
	mov 	ax, 1
	jmp 	!deltadone
!angle_2
	mov 	ax, 2
	jmp 	!deltadone
!angle_3
	mov 	ax, 3
	jmp 	!deltadone
!angle_4
	mov 	ax, 4
	jmp 	!deltadone
!angle_5
	mov 	ax, 5
!deltadone
	cmp 	dx, 0
	ja 	!delta_plus
	neg 	ax
!delta_plus
	ret