;Here is my entry....
;
;Robot: URMINE
;Version: 2.3
;Make publically available
;Copyright 1997 Jay McClure
;Dalton, GA    (Formaly Tuscaloosa, AL)
;jay@ocsonline.com
;
;Style: Find, Track, Follow, and Shoot
;
;Complete 2/24/97

;Define vars
#def current_heat       ;Current heat
#def heat_limit         ;Fire limit
#def stop_del           ;Stop delay so we don't hit the wall
#def turn_del           ;Turn delay so we turn before we go
#def lost_target        ;If we lose target, spread angle and inc this.
#def fire_correct       ;Advanced predition var
#def scan_width         ;Half of scan width
#def rotate_width       ;Deg to rotate during search
#def aim_correct        ;Help aim gun
#def target_dist        ;Distance to target
#def def_scan_width     ;Default scan width
#def rand_num           ;Random Number

;init vars

 ;Set heat limit
 mov heat_limit,275     

 ;Found no targets yet
 mov LOST_TARGET,0

 ;Set initial scan_width
        mov def_scan_width,5
        mov scan_width,def_scan_width 

 ;Set rotate_width
 mov rotate_width,scan_width
 add rotate_width,scan_width

:500
 ;Set Speed
 opo 11,75

 ;Turn
 opo 14,rotate_width

 ;Spread out scan_width
        mov scan_width,def_scan_width
 opo 17,scan_width

 ;Line up turrant
 opo 12,0       

;scan and fire routines
:775
        ;Reset these
 mov aim_correct,0
 mov LOST_TARGET,-1

;scan and maybe fire
:790
 ;Get dist to target if any
 ipo 7,target_dist
 cmp target_dist,1500
 jls 795
 ;If we didn't find it
 ;See if we just had it
 ;in sights.
 cmp LOST_TARGET,0
 jls 500
 ;How long ago did we see it?
 cmp LOST_TARGET,2
 jle 793
 ;Reverse scan direction and give up
 ipo 10,rand_num
 cmp rand_num,0
 jls 500
 neg rotate_width
 jmp 500
:793
 ;If we got here, we saw it 
 ;just a millisecond ago
 ;Widen scan to help find it
 add scan_width,3
 opo 17,scan_width
 jmp 800
:795
 mov LOST_TARGET,0
:800    
 inc LOST_TARGET
 ;Get Accuracy offset
 ipo 8,aim_correct
 ;Check to see how good our aim is
 cmp scan_width,5
 jgr 810
 ;Check our heat before we fire
 ;ipo 2,current_heat
 ;cmp current_heat,heat_limit
 ;jgr 810
        ;Turn on overburn
        opo 18,1
 ;Fire with correction
        opo 15,aim_correct
        ;Turn off overburn
        opo 18,0
 ;Gas
 opo 11,99

;Move body and cut down scan angle
:810
 ;Move body by Accuracy offset
 opo 14,aim_correct
 ;See if we can cut down on the scan arc
        cmp scan_width,1
 jls 820

;If we got here, we will cut down the scan width
:815    ;Cut down arc
 dec scan_width
 opo 17,scan_width

;Scan again now
:820
 jmp 790

;*************************************
;************ DEAD  ******************
;*************************************
;Get fire correction
:820
 cmp aim_correct,0
 jeq 790
 jls 830
 inc fire_correct
 jmp 790
:830
 dec fire_correct
 jmp 790
:835
 mov fire_correct,0
 jmp 790