;
;       EXperimental-Robot 101  by Shaheryar Alam
;

#msg 
#def accuracy
        
        opo     17,     4       ; scan-arc 4 degrees
        mov     ax,     1       ; ax = 1
        int     3               ; turn keepshift on      
:1
        opo     11,     75      ; throttle to 75%
:2
        opo     12,     3       ; turn turret 3 degrees
:20
        ipo     7,      ax      ; scan
        cmp     ax,     1500    ; find anything?
        jls     3               ; yes? shoot!

        call    10              ; check for collision
        jmp     2               ; go back to scanning
:3
        ipo     2,      ax      ; check heat
        cmp     ax,     250     ; hotter than 250?
        jgr     2               ; if so, forget target, continue scan.
        
        ;read accuracy setting.
        ipo     8,      accuracy
        mov     ax,     accuracy; ax=accuracy
;        shl     ax,     1       ; ax=ax*2
        ;turn using accuracy (to try to continue to face target)
        opo     12,     ax
        opo     15,     0       ; Fire!
;        opo     15,     accuracy; Fire!
        shl   accuracy  2       ; accuracy=accuracy*4
        opo     14,     accuracy; Turn body towards target

        ipo     7,      ax      ; scan
        cmp     ax,     1500    ; find anything?
        jgr     2               ; if not, then scan again
        ipo     8,      accuracy; get accuracy
        opo     15,     accuracy; FIRE!
        opo     12,     accuracy; turn towards target

        jmp     20

:10
	ipo     1,      ax      ; get current speed
	cmp     ax,     0       ; check if we are still moving
        jgr     12              ; if we are, go back
:11        
        opo     14,     50      ; Turn 50 degrees
	opo     11,     100     ; Set throttle to 100%
	
;        delay   20              ; delay the return in order to move ahead
				; some and then slow down
:12
        ret                     ; return to call