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____________________ / \ / Advanced T-Robots v1.1 \ / -------------- \ ----------===========< By: Ed T. Toton III >===========---------- \ (c) copyright 1992 / \ All rights reserved. / \______________________/ Special thanks to Jeremy Kusnetz & Kenneth B. Foreman & Erik McClenney Note- I wish to apologize in advance for the spelling errors and other such nonsense. I also would like to apologize for the arcane nature of the text, as writing technical documentation is not one of my stronger points. A. T-Robots = (c) 1992 = Ed T. Toton III pg 0 --- Table of Contents --- Things you should have............................2 Legal Stuff.......................................2 Introduction to AT-robots.........................2 Technical information.............................3 Running AT-Robots.................................3 Acronyms..........................................5 Update/History....................................5 Basics of AT-Robots...............................6 Compiler..........................................7 The programming language..........................7 Registers.........................................9 Command lists and descriptions....................9 Ports............................................12 Interrupts.......................................14 Vars, Memory.....................................15 Peicing it all together..........................15 Errors...........................................18 Programming the robots...........................20 Mnemonics and Constants..........................22 Staging a competition............................23 Trouble-shooting and Speed-control...............23 More legal stuff.................................24 Final Notes......................................25 Other Software...................................25 [ ED. Note- It is HIGHLY suggested that you make a print-out of this file! ] A. T-Robots = (c) 1992 = Ed T. Toton III pg 1 ----------------------------------------------------------------------------- THINGS YOU SHOULD HAVE You need a text editor! Writing programs will be very difficult without one. DOS 5.0 has a nice editor (that's what I'm using to write this), or you can use a programming environment (like Turbo Pascal or C or Quick-Basic), or you can even use some word processors. If you use basic or or something like Word Perfect, you will need to remember to save it as "dos text" or "ascii format". Here are the files you should have: ATROBOTS.EXE - The program. ATROBOTS.DOC - This file. PRINTDOC.BAT - Batch file to print out this documentation. COMMENTS.TXT - Comments written by other AT-robots users. README.1ST - Important notices. You should have read it by now. DEMO.BAT - The demonstration run. Run this for a demo. DEMO.DAT - The demonstration config file. SAMPLE.ATR \ RANDMAN.ATR >- These are some sample robots. SNIPER.ATR / ????????.ATR - Other robots written for use with this program. ALL AT-Robots robots MUST have the .ATR extension. ----------------------------------------------------------------------------- TRADEMARKS & COPYRIGHTS: AT-Robots (c) 1992 Ed T. Toton III T-Robots (c) 1991, 1992 Ed T. Toton III P-Robots (c) 1988 David Malmberg C-Robots (c) 1985 Tom Poindexter Turbo Pascal is a registered trademark of Borland International. ----------------------------------------------------------------------------- AT-ROBOTS: "Ay-Tee Robots" AT-Robots is designed to allow people to design and program robots to fight one another. Competitions between people is what it's all about!! The robots are programmed in a simple language which will be explained shortly. AT-Robots stands for "Advanced T-Robots". T-Robots was the predecessor program to this. It was inspired by P-Robots (written by David Malmberg), which was in turn inspired by C-robots (written by Tom Poindexter). T-Robots and AT-Robots are designed with the idea of programming robots, without going to the lengths of learning to program in high-level languages, but to still allow fairly simple program design. In the case of AT-Robots, the language has some similarities to assembly. Basically, T-Robots allowed you to use T-Robot-Basic to program the robots, and now in AT-Robots you use T-Robot assembly. Instead of having simple commands for complex tasks, you have simple commands to do simple tasks. You will have to design subroutines to access the specific devices/ports/memory areas of the robot specifically in your program. The language has a small amount of available commands, thus making it easy to learn, while offering experienced programmers an interesting A. T-Robots = (c) 1992 = Ed T. Toton III pg 2 challenge. Though it is not a real programming language of sorts, it can still teach the basic concepts of programming and logical thinking. The system may still have bugs or discrepencies. Please contact me if you spot one!! Also, please let me know if I have left anything out of the documentation that you think I should include. And in addition to that, please inform me if you have any ideas of new commands to add to the programming language. ----------------------------------------------------------------------------- TECHNICAL INFO: (most graphic cards supported!) AT-Robots requires a VGA (graphic driver #9 with the -M setting and mode #2 with the -L setting) for some specific features, but otherwise supports most graphic cards. AT-Robots is written in Turbo Pascal 6.0 and Turbo Assembler. It does not multi-task, it simulates it. AT-Robots should be used on 286's and better. It may run too slowly on slower computers. AT-Robots consists of over 2500 lines of source code. ----------------------------------------------------------------------------- RUNNING AT-ROBOTS To run AT-robots, you must have at least one robot program ready, and you must make a configuration file to use it. To run AT-Robots, you type "atrobots", then a space, then the name of the config file. ex: ATROBOTS MYFILE.DAT The config file tells AT-Robots what settings to use, and which robots to run. Inside the file you put ONE item per line. Settings start with a dash (-), and sometimes have a parameter number. For the robots you put the name of the robot file, but without the ATR extension. The settings will be explained shortly. Here is an example: -d0 -gn -s100 myrobot robot1 robot1 This file would tell AT-robots to have no delay (thus run at the maximum speed), with NO graphics (so as to get a quick result), and to update the output every 100 cycles (again to increase speed. This setting usually defaults to 10). It then loads MYROBOT.ATR into robot #1, ROBOT1.ATR into robot #2, and ROBOT1.ATR into robot #3. There can be up to 6 robots, and in this case only 3 are used. On the following page you will find the settings and graphic modes. There are some features that will be unavailable to those not using mode #9 (VGA). These are: 1. Fancy status bars that are easy to read. 2. On-screen display of error-codes generated by robots. A. T-Robots = (c) 1992 = Ed T. Toton III pg 3 Note that all those things can only be used if the -A option is used, and you are using mode 9. If you have an 8514 and want these, you'll need to put a -M9 in the config file. The settings are as follows: -D## Sets the delay in hundredths of a second. Should never be over 20 (unless in combination with -N#). -A If graphics are on, this will allow the status bars to be displayed. -GN Turns the graphics OFF. -S## Number of cycles between output updates. (increase for greater speed) only works with the graphics turned off. -N## Cycles between each delay. Usually 1, but can be increased when using it with -D1 to speed things up (to make it faster than -D1 by itself). -P## Increases the number of program commands each robot executes each cycle. Can be useful when using complicated programs. Don't set too high though, it can mess things up. -R## Tells AT-robots to Run a number of battles as you specify. -TN Turns off the title screen. Once you've seen it a few times, you'll get tired of it and this is here for that purpose. -Q Sets AT-Robots to run in Quiet mode. -C Tell AT-Robots to save compiled versions of the robots in binary files. As of yet there is no purpose for it. -M# Force a specific graphic driver (usually automatic). Drivers are listed later. Modes are set automatically ONLY if driver is automatic. -L# Graphics mode setting. Here are the default settings: -D 1 -A off, you must use -A if you want status bars on. -GN on, you must use -GN if you want the graphics off. -TN on, you must use -TN if you want the the title screen off. -S 10 -N 1 -P 9 -R 1 -Q on, you must use -Q if you want the sound off. -M 0 (auto-detect) -L 0 (auto-detect if -M is 0, otherwise it's the mode number) Graphic drivers: 0 : Autodetect (default) 6 : IBM 8514 SVGA 1 : CGA 7 : Hercules 2 : MCGA 8 : AT&T400 3 : EGA 9 : VGA * 4 : EGA64 10 : PC3270 5 : EGA mono * Vga is required for a few special features (with -L2). (for a list of modes, see the file called MODES.DOC) There are several keyboard commands you must know before you start. One is the quit key, which is 'Q'. Another command, which only works if you are running multiple matches, is the 'N' key, which aborts the present match and starts the next. The final one is the 'P' key, it pauses the simulation until you press another key. A. T-Robots = (c) 1992 = Ed T. Toton III pg 4 If you want to run the included demo, drop to dos and run the batch file called DEMO. That's right, in dos type DEMO and hit enter. It will run the demo for you. When running multiple matches you should still baby-sit the program because somtimes robots will end up in opposite corners, or whatever, and will be unable to hit each other, in which case you need to press 'N' to skip to the next round. [ Special Note- In your robot programs you may put a setting ] [ which will over-ride the -P setting in the config file. It ] [ will only take effect if the new setting is smaller than the ] [ -P in the config. Here is the usage: #SPD <speed> ] [ Example: ] [ #SPD 5 ] [ ] [ In this example, it would let the robot do no more than 5 ] [ program cycles at a time, as if the -P setting were 5. Useful ] [ to keep robots from over-heating, and moving before turning ] [ all the way, etc... ] ----------------------------------------------------------------------------- ACRONYMS: Here in ATR (see, there's one already) we use several acronyms that you may or may not already be familiar with. At anyrate, here they are: Acronym: Meaning: ATR Advanced T-Robots. ATRA Advanced T-Robots Assembly. BIOS Basic Input/Output System ERR Error GSB Gosub (a call to a subroutine) I/O Input/Output INT Interrupt JMP Jump (like a GOTO in basic) OP Op-Code (numeric codes that commands get turned into) RAM Random-Access Memory. REG Register ROM Read-Only Memory. ROS Robot Operating System. SPD Speed VAR Variable ----------------------------------------------------------------------------- UPDATES & HISTORY: For those of you already familiar with T-Robots, you will have a fairly easy time adjusting to AT-Robots. The arena is the same, the robots have been slightly modified, but are otherwise the same as well. The most significant changes are the programming language, and some improvements to the workings of the main program. Once a maintenance crewman got killed by an accident involving the missile launchers, they were instantly banned from the arena. However, to replace the missile launchers on the robots, they started installing swivel mounts to A. T-Robots = (c) 1992 = Ed T. Toton III pg 5 the lasers. This gives the laser the ability to swivel up to 8 degrees in either direction without moving the turret. Since then, the robot's main processors have gone under major revision also. The now outdated T10 and XT20 processors (used on T-Robots) have been replaced with the new 16-bit AT version (The AT10). For those of you who are interested, the names for those processors were quite easy to decide upon. The T10 is for T-Robots v1.0, hence "T10". The XT20 is for T-Robots v2.0, and is the eXtended processor, hence "XT20". The AT10 is the Advanced T-Robots v1.0 processor, and thus it is called the "AT10". The second reason for these names is that it pokes fun at the chips for the IBM compatable computers. The XT is the outdated series, while the AT series of processors are current. ----------------------------------------------------------------------------- BASICS: The arena is 1 kilometer wide and 1 kilometer long. The coordinate system is set up such that (0,0) is at the upper-left corner and (1000,1000) is at the lower-right. The screen is set up as follows: 0,0 ________________________________________ 1000,0 | | | | | | | |----------| | | status | | | areas | | |----------| (side of | Arena | | screen) | | | | |----------| | | | | | | | |----------| | | | | | | | | | 0,1000 |________________________________________| 1000,1000| Navigation is done in a 360 degree circle. Here are the directions for each course: 0 (360) | 315 | 45 \ | / 270 ----- + ----- 90 / | \ 225 | 135 | 180 The Robots are all equipped with a scanner, armor, and a laser. A. T-Robots = (c) 1992 = Ed T. Toton III pg 6 Robots don't stop, start, or turn on a dime. When you tell the robot to move at a certain speed, it will accelerate until it reaches that speed or it collides with something. Once it has reached that speed it will remain there until you change it or it collides with something. When you instruct the robot to turn, it will rotate until it faces the new direction, or you tell it to do otherwise. The robot will always rotate in the direction that is shortest to face the target heading. if you tell it to turn 270 degrees to the right, it will turn 90 to the left (it's shorter, and is still the same heading). Also note that since it takes time to start/stop/turn, that the program may have executed many commands before the thing actually gets to it's new speed or heading. Each robot has two status bars (if you used the -A option). The upper one, which is in the same color as the robot if you have a color display, is the robot's armor. The one below it is the robot's heat scale. ----------------------------------------------------------------------------- THE COMPILER: AT-Robots is equipped with a compiler. It reads in your robot programs and turns them into numeric data that the robots follow as a set of instructions. These numeric codes are called OP-CODES. If you use the -C option in the config file you can see these op-codes saved in binary format. The compiler writes the programs to the screen as it compiles them. Thus, if there's an error, you can see where it was in your program. When a program is compiled, EACH word is directly converted into a pre-defined op-code, no matter where it is. As explained in more detail later, you can interchange variables, registers, numbers, and commands, and still get a clean compile, AND a functional program. ----------------------------------------------------------------------------- THE PROGRAMMING LANGUAGE IN GENERAL: The language is used as follows: The programming language consists of four basic types of statements. 1) Remarks. - These are not compiled into your program, they are simply notes that you can read when viewing programs. 2) Var Defs - Variable definitions. This is how you define variable names. Read on.. 3) Labels. - These are the target locations for JUMP and GOSUB commands. They are not executed and do not use your robots time. 4) Commands.- These are the functions of your robot. They command the robot to perform specified activities. 5) Variables- Variables are a major programming thingie. They may have values from -9999 to 9999. You may define up to 80 of them, and they may be no longer than 16 characters long. They must contain only letters and underscores. NO numbers or symbol-characters! A. T-Robots = (c) 1992 = Ed T. Toton III pg 7 Remarks: Syntax: ; <statement> The semi-colon MUST be the FIRST character on the line (other than spaces), and whatever you put on the line with it will be ignored by the compiler. OP-CODE: none Labels: Syntax: :#### The colon MUST be the FIRST character on the line (except for spacs). RIGHT after it, without any spaces in-between, you put a number anywhere from 1 to 8999. That number is the label. Do not use the same number twice within the same program. NOTE- labels 9000 or higher are INVALID. OP-CODE: 1000 + <label number> Commands: Syntax: Command [parameters] The command may or may not have parameters, but if there are, you seperate them from the command with spaces. Only one command may be put on each line. Also note that you must not use any punctuation unless it is a remark, or a label. OP-CODE: defined on chart below. Variable Definitions: Syntax: #def <variable name> The definition MUST come BEFORE the first time the variable is used in the program. Don't worry about putting the definitions inside loops, or after the program starts, these can be put just about anywhere, and are not compiled into the program. They are used to figure out how to compile the program, but do not get turned into executable code. OP-CODE: none Variables: Once a variable has been declared, it can be used anywhere in the program any way you like. The compiler is VERY flexible. All the things you can get away with are described later, but remember, you can do just about anything with these suckers.. OP-CODE: 10000 + <mem address> A. T-Robots = (c) 1992 = Ed T. Toton III pg 8 ------------------------------------------------------------------------------ REGISTERS: The ROS (Robot Operating System) has a series of several memory locations that are set aside for certain functions. They are called registers. They are used for various things, mostly for interrupts and comparisons. The following are their most common uses and their memory-locations and op-codes. Register: Mem: Op: Function: AX 100 10100 Interrupt-instruction AY 101 10101 Reserved for your use. AZ 102 10102 Interrupt returns BX 103 10103 Interrupt instructions and returns BY 104 10104 Interrupt returns BZ 105 10105 Reserved for your use. CX 106 10106 Interrupt-instruction (rarely) CY 107 10107 Variable exchanges (XCHG command) CZ 108 10108 Comparisons only. CT 118 10118 Loop-Counts FL 119 10119 Status flags (not yet functional) ------------------------------------------------------------------------------ COMMANDS: These are the instructions that the robots use to do things. The Op-Codes are what the robots actually use (this holds true for everything). These code-words however are used in place of the numbers for understandability. Note that the compiler turns them into the op-codes, and leaves numbers as they are, and thus if you wish you may program your robots using the op-codes instead of the command-names. (The speeds listed are actually execution-time numbers. Those numbers indicate how much of your robot's time each command uses. The amount of time your robot gets total is determined by the -P setting in the config file) (Also note that below, if parameters are listed as VARs then they MUST be variables or pointers. If they are VALs they can be anything). OP: Spd: Name: Function & syntax: 1 1 set Syntax: SET <var1> <val1> -Sets VAR1 equal to VAL1. 2 1 add Syntax: ADD <var1> <val1> <val2> -Adds VAL1 and VAL2 and puts the result in VAR1. 3 1 sub Syntax: SUB <var1> <val1> <val2> -Subtracts VAL2 from VAL1 and puts the result in VAR1. 4 3 mpy Syntax: MPY <var1> <val1> <val2> -Multiplies VAL1 by VAL2 and puts the result in VAR1. 5 3 div Syntax: DIV <var1> <val1> <val2> -Divides VAL1 by VAL2 and puts the integer result in VAR1 A. T-Robots = (c) 1992 = Ed T. Toton III pg 9 6 1 put Syntax: PUT <val1> <mem location> -Sets the byte at the given location equal to VAL1. NOTE- the location is not a pointer. 7 3/0 int Syntax: INT <num> -Executes an interrupt. (interrupt number <num>) (has speed of 3 usually, but if you re-define the interrupt vector to run a subroutine, then it is speed 0). 8 1 get Syntax: GET <var1> <mem location> -Sets VAR1 equal to data at mem location. 9 1 loc Syntax: LOC <var1> <var2> -Sets VAR1 equal to the address of the memory location that VAR2 is stored in (not a pointer though). 10 1 cmp Syntax: CMP <val1> <val2> -Compares VAL1 and VAL2 (by subtraction) and puts the result in the CZ register. Note- same as "SUB cz <val1> <val2>" 11 0 gsb Syntax: GSB <label> -"GOSUB". Goes to label as defined. Returns to the GOSUB call when a RET is encounterd. Same as GOSUB in basic. 12 0 ret Syntax: RET -"RETURN". Returns after a gosub or a conditional jump that was set to "gosub". Same as RETURN in basic. 13 0 jmp Syntax: JMP <label> -"GOTO". Goes to label as specified. Does not return with a RET. Same as GOTO in basic. 14 0 jls Syntax: JLS <label> [code] -Like "jmp" but only actually does the jump if the CZ register is negative (in a comparison with "CMP", the cz register would be negative if the first value was less than the other). If the CODE is present, AND it is not zero, this command will act more like "GSB", and thus GOSUB to the label. 15 0 jgr Syntax: JGR <label> [code] -Like "jmp" but only actually does the jump if the CZ register is positive (in a comparison with "CMP", the cz register would be positive if the first value was greater than the other). If the CODE is present, AND it is not zero, this command will act more like "GSB", and thus GOSUB to the label. 16 0 jeq Syntax: JEQ <label> [code] -Like "jmp" but only actually does the jump if the CZ register is zero (in a comparison with "CMP", the CZ register would be zero if the first value was equal to the other). If the CODE is present, AND it is not zero, this command will act more like "GSB", and thus GOSUB to the label. A. T-Robots = (c) 1992 = Ed T. Toton III pg 10 17 0 jne Syntax: JNE <label> [code] -Like "jmp" but only actually does the jump if the CZ register is not zero (in a comparison with "CMP", the cz register wouldn't be zero if the first value was not equal to the other). If the CODE is present, AND it is not zero, this command will act more like "GSB", and thus GOSUB to the label. 18 3? ipo Syntax: IPO <port num> <var1> -Input to from port. This command takes a byte of input from the given port and puts it into VAR1. Note that the command will do nothing if the port is an input port. NOTE- Accessing certain ports can have a slow-down effect 19 3? opo Syntax: OPO <port num> <var1> -Output to port. This command takes what's stored in VAR1 and sends it to the given port. Note that the command will do nothing if the port is an output port. NOTE- Accessing certain ports can have a slow-down effect 20 ? del Syntax: DEL <val1> -Delays for length of time defined by VAL1. Time is in increments of program commands. Thus if you set it to 5, then the robot will not execute commands for the amount of time in which 5 commands could be executed. 21 1 mod Syntax: MOD <var1> <val1> <val2> -MOD's VAL1 and VAL2 and puts the result in VAR1. For an example, look below. 22 2 and Syntax: AND <var1> <val1> <val2> -AND's VAL1 and VAL2 and puts the result in VAR1. 23 2 or Syntax: OR <var1> <val1> <val2> -OR's VAL1 and VAL2 and puts the result in VAR1. 24 2 xor Syntax: XOR <var1> <val1> <val2> -XOR's VAL1 and VAL2 and puts the result in VAR1. 25 2 not Syntax: NOT <var1> <val1> -NOT's VAL1 and puts the result in VAR1. 26 3 xchg Syntax: XCHG <var1> <var2> -Exchanges the values of VAR1 and VAR2. NOTE- changes the CY register (it uses it as a temporary storage facility). ALSO NOTE- You can use the word SWAP instead of XCHG. It may be easier to remember. 27 1 do Syntax: DO <val1> -Sets the CT register (counter) to VAL1. When using loops this has the effect of determining how many times to execute that which is in the loop. A. T-Robots = (c) 1992 = Ed T. Toton III pg 11 28 1 loop Syntax: LOOP <label> -This decrements the CT register and loops back to <label> if the CT register is greater than 0 after the decrement. 29 1 push Syntax: PUSH <val1> -This takes VAL1 and puts it on the stack. 30 1 pop Syntax: POP <var1> -Takes the last number put onto the stack, pops it off the stack, and returns the value in VAR1. AT-Robots has several mathematical instructions for your use. If you already understand them, you can skip to the next section. For those who don't know what MOD does, read on. If you don't understand OR, XOR, AND, and NOT, don't worry about it. You don't need these instructions, they were simply included just in case someone needs them somewhere sometime. When you divide two numbers, what you get is the integer part of the result. Example: DIV result 11 3 In this example, it would divide 11 by 3, which is 3.66666. Thus, the variable "result" would now equal 3. The MOD instruction returns the remainder in such a division operation. since 11 divided by 3 is 3 with a remainder of 2, then the same example can be applied below and have a result of 2. MOD result 11 3 As stated, "result" would now equal 2. ----------------------------------------------------------------------------- PORTS: Each robot is equipped with various peripheral devices. Each one has one or more I/O ports through which the robot's program accesses them. Each port does either input OR output and not both. Some ports take more time to access than others, and so a number will be given for slow ones indicating just how much slower they are. (The speeds listed below are actually the additional amount of time used by the robot to access the port. It simply means that those particular ports require different lengths of time to do their jobs). A. T-Robots = (c) 1992 = Ed T. Toton III pg 12 Port: Spd: Name: I/O: Function: 1 0 Spedometer I Returns present speed. (0-100) 2 0 Heat sensors I Returns present heat level (0-500) 3 0 Compass I Returns present heading (0-360) 4 0 Turret Sensor I Returns offset of turret 5 0 Turret Sensor I Returns absolute heading of turret. 6 0 Damage Sensor I Returns armor level remaining (0-100) 7 1 Scan enemies I Returns range to nearest enemy within scan arc (points in direction of turret, and has arc radius set by port 18) and within max range set by port 20. Sets Laser accuracy setting based upon present settings. Returns a number greater than 1000 (maximum laser range) if no enemy found (specifically, 5000). 8 0 Accuracy set I Returns accuracy setting that was determined by last run of port 7. 9 0 Radar I Returns range to nearest target but is not limited to the arc width setting. 10 0 Random GeneratIr Returns a random number from 0 to 9999. 11 0 Drive System O Sets throttle to given setting. 12 0 Turret O Offsets turret from present setting by given angle. (cumulative) 13 0 Turret O Sets turret offset to given direction. (0=forward, 180=back) (absolute). 14 0 Steering O Sets Heading relative to current direction. 15 1 Laser O Fires laser with given accuracy setting. 16 0 Sonar I Not installed. 17 0 Arc-width I Returns present scan-arc width. 18 0 Arc-width O Sets scan-arc width to given setting. 19 0 Range I Returns present max-range. 20 0 Range O Sets max-range to given setting. 21 0 Over-burn I Returns present overburn status (0=off, 1=on). 22 0 Over-burn O Sets overburn status to given setting. (0=off, non-0=on); A. T-Robots = (c) 1992 = Ed T. Toton III pg 13 ----------------------------------------------------------------------------- BIOS INTERRUPTS: (BIOS= Basic Input/Output System) In addition to I/O ports, the robot is equipped with some built-in functions that can be used. These functions are called interrupts. When and interrupt is generated, the computer makes a note on the stack (so it knows where to return to), then it stops what it's doing and executes the interrupt funtion. Afterwards, it checks the stack, and returns to what it was doing. In your programs you can use the INT command to execute an interrupt. When you call an interrupt, you will often need to set some of the system registers before executing it, to tell it what to do. Note that in the robot's RAM there are interrupt-vectors. If these are set to 0, they execute the following. If you re-define an interrupt vector, then the interrupt will doa GOSUB to the label you set the vector to, instead of doing the following (as explained later). Also note that there are 20 interrupts, but only the following have pre-determined functions. (The speeds listed below are the additional amount of time used by the interrupt to do it's job). Int: Spd: AX: BX: CX: Returns/Function: 1 0 - - - Reset's Robot. 2 0 - - - Destruct. 3 0 port Output - Accesses a port. If you are sending data, set the BX register. If receiving data, the AZ register holds that data. 4 0 port - - Returns status of port (0=functional, 1=damaged, 2=destroyed). (not yet installed) 5 0 - - - Returns location of your robot. (BX=x, BY=y) 6 0 Int # label - Sets an interrupt vector as noted in AX to the label as specified in BX. 7 0 Direction - - Turns Robot number of degrees specified in AX, and turn turret same amount in opposite direction. 8 0 Heading - - Turns robot to face the new absolute heading specified in AX. A. T-Robots = (c) 1992 = Ed T. Toton III pg 14 9 0 Error - - Generates the error-code you specify in the AX register. Particularly useful if you want to be informed of how often something in your program happens, or whatever. errors can be from 0 to 99, 0 itself will never be generated as a real Error. 10 0 - - - Scans for enemies, just like port 7. The distance is to the nearest enemy within scan arc is returned in AX. The ID number for the robot is returned in BX. This can be used for team robots, etc. 11 0 - - - Get's ID code. Basically, this routine returns what YOUR robot's ID number is in AX. ------------------------------------------------------------------------------ VARIABLES, MEMORY, & PIECING IT ALL TOGETHER: In your programs, you may use variables as you wish (up to 80). The compiler uses the #DEF statements to find out what YOU call your variables, but in the end they get converted into OP-codes. Likewise you can simply use the op-codes in your program without ever defining a variable and get the same effect. First you should be made aware of the memory set-up... Each robot is equipped with 300 bytes of RAM (random-access memory). The robot-program itself is stored elsewhere in ROM (read-only memory). Each byte consists of 16 bits and stores a signed integer value (-32767 to +32767). (We realize usually one byte is 8-bit, but this is A. T-Robots). The first 100 bytes are system-memory (0 to 99). Not all of it is used, but it is set aside for future improvements. In this range is where the interrupt vectors are stored. The next 20 bytes after that (100-119) are reserved for system-registers. Not all 20 are used, so far there are only 9 registers, but they are set aside for future improvements to the ROS (Robot Operating System). The remaining 180 bytes are free RAM. Everytime you declare a variable, it is assigned a memory location in this area, and everywhere that variable is encountered in the program, it is replaced with a pointer to that memory location. You can use this memory directly as well for whatever you wish. A. T-Robots = (c) 1992 = Ed T. Toton III pg 15 Here is a listing of memory locations and their uses: Address: Function: 0 Target speed (speed your robot is trying to acheive) 1 Target heading (heading your robot is trying to acheive) 2 Turret position. 3 Accuracy setting (set by port 7). 4-29 Not in use 30 Random numbers from 0 to 9999. 31-50 Interrupt vectors 1 to 20 respectively. 51-99 Not in use. 100 AX register 101 AY register 102 AZ register 103 BX register 104 BY register 105 BZ register 106 CX register 107 CY register 108 CZ register 109-117 Not in use. (additions to register table will go here) 118 CT register 119 FL (flags) register (not yet in use) 120-299 Free RAM. Within the range of 120-199 is where variables are placed. All RAM thereafter is useable RAM for anything else (200 to 299). A memory location that is defined in the range of 0 to 299 is called a "memory address". The op-code for a memory location is 10000 + <mem address>, and that is called a "pointer". Anytime the robot comes across a pointer in the program (unless specified otherwise by a particular command), it instantly accesses that location in RAM to get a value to use. This holds true even for commands. This means you can store commands in your RAM, which your robot can change later, thus making it possible to make self-rewriting programs. Example: #def com set com 7 com 2 This sample code would destruct the robot. It defines a variable called "com", then sets "com" equal to "7". The third line basically makes the robot look inside "com" to find out what command to execute. It finds a "7" which is an interrupt call. The parameter is a "2" which thus means that interrupt #2 is to be executed, which is "Destruct". The same set of code can be re-written as the following: #def com set com 7 com add The word "add" has an op-code of "2". Since it is the second thing on the line, it is used as a parameter instead of a command, thus it means "2". If the variable "com" was the first variable declared in the program, it's memory address would be "120". It's op-code would then be "10120", thus the same thing could be done like this: set 10120 7 10120 add A. T-Robots = (c) 1992 = Ed T. Toton III pg 16 The same thing can be done using a register: set az 7 az add Or the address of the register: set 10102 7 10102 add In fact the whole thing can be done using only op-codes: 1 10102 7 10102 2 Note that in all of these examples, no one particular method is more effective. They all mean the same thing, they all do the same thing, they're simply different ways of phrasing the commands. CMP's: Now, remember that comparisons (CMP command) set the CZ register to the result. Since the CMP command is the only thing that can change the CZ register without you specifically accessing it, you'll be able to make multiple references to it with conditional jumps (JMP et. al.), and since the jump commands don't use your robots time, there is nothing to be lost in using several of them. The following is an example... CMP armor 50 jls 100 jgr 200 jeq 300 In that set of code, if ARMOR is less than 50, the program will jump to the label "100". If it's greater, it'll go to "200" and if it equals it, then it'll go to "300". And the whole list of commands will only take up one of your robot's program cycles. The CMP command uses time, but not the jumps. LOOP's: In loops, the code will be executed the number of times you set in CT. In this way it is like a FOR loop in other languages. They are set up like this: DO <number of times> :<label> ..<commands> ..<commands> LOOP <label> An example is: DO 5 :444 opo 15 0 LOOP 444 A. T-Robots = (c) 1992 = Ed T. Toton III pg 17 In this example the commands would instruct the robot to fire 5 times. It would take a total of 26 program cycles to execute. Note that the following code is not good. It will repeat the loop until your robot lies dead. :444 DO 5 opo 15 0 LOOP 444 It would keep looping and keep setting the CT register back to 5, and since it never reaches 0, it never stops. Also note that nested loops are not possible without a little extra effort. Here is an example of a nested loop: DO 10 :444 set bz ct DO 5 :555 opo 15 0 Loop 555 set ct bz opo 14 9 LOOP 444 In that example, you save the contents of CT in BZ while you do the inner loop, and then set it back. This code would have the effect that you would fire 5 times, then rotate 9 degrees to the right, and repeat that whole sequence 10 times. Another way to do it would be to use the stack as shown here: DO 10 :444 push ct DO 5 :555 opo 15 0 Loop 555 pop ct opo 14 9 LOOP 444 ----------------------------------------------------------------------------- ERRORS AND OTHER USEFUL INFO: Your robots should never generate a runtime error (either in terms of the robot, OR the main game itself, but in this case we mean in terms of the robot). If they do make one, and you have the graphics and status bars turned on, you'll be made aware of it. If the sound is on, then you'll hear it as well. If you have the graphics off, the bottom row of the status reports shows the last error code genereated by your robot. If your robot works properly, it should always be 0. A. T-Robots = (c) 1992 = Ed T. Toton III pg 18 When a robot has a runtime error, the program will continue on and simply not do the command that created the error. Note that the command that had the error STILL uses your robot's time. If you have all the stuff on listed above, you'll be able to find out what the error is. In the status area for your robot, next to the name, a number will appear. This is the error code. It will change color everytime an error is generated, so that even if the same code keeps coming up you'll be able to tell that another error was generated. [ Note- on-screen error codes will be displayed only if you use the ] [ -A option in the config file and are using VGA driver 9 & mode 2 ] Here is a list of the error codes: Code: Meaning: 0 User-Error Hmmm, if you got this error you must have programmed it in yourself. I certainly hope you know what to do with this one. 1 Stack full. This means that you are trying to call GSB or a conditional jump with a non-zero second parameter (which makes it act like GSB) and the stack is full. Since the stack is a pretty decent size, you either wrote an immensely complex (TOO complex) program, or you have left out a RET somewhere. It's also possible that you are using too many PUSH commands, as it puts data onto the stack. 2 Label not found. This means you are calling a GSB, JMP, etc. that is supposed to go to a label that doesn't exist. This one is easy to fix. 3 Cannot assign value/Illegal memory reference. Ok, this basically means that you were using a pointer that points to a non-existent memory location, OR you were trying to assign a value to a numeric constant (an example of which would be: SET 5 5). 4 Non-Existent port. To fix this, go check and see just what port you were trying to access.. 5 Non-Existent Interrupt. Ahah! Cought you trying to create a new interrupt! There are 20 interrupts, not all of which are already in use. If you use one of those, you won't get this error. 6 Stack Empty. Ouch. I hope you aren't reading this because you got this error. At anyrate, it means you are calling too many RET's. Anytime you jump or GSB into a subroutine, you should have it generate one and only one RET in the subroutine, no more A. T-Robots = (c) 1992 = Ed T. Toton III pg 19 no less. You can have more, but make sure you only execute one per GSB or a GSB-like conditional jump. Never enter a subroutine that uses RET with a JMP or non-GSB-like conditional jump. Make sure for every PUSH there is one POP. The PUSH command puts data on the stack, and POP takes it off. This error could be caused by using too many POP's. For those of you who program in REAL assembly, we have some programming aids for you. There are alternate spellings for some commands that you can use (but remember, NO punctuation marks! That includes commas!! I know how attached you get to those commas, but you can't use them!!). Here they are: Command: Alternate spellings: SET MOV JEQ JE JGR JA JLS JB XCHG SWAP IPO IN OPO OUT ----------------------------------------------------------------------------- PROGRAMMING THE ROBOTS: Ok, I'll bet you just glanced through the above information and are thinking, "Ok, great. It looks nice, but how do I use it?" I hope to explain a few details here, but I think the sample robot programs are by far the best source of information. Below are a few charts to refer back to at later times, and a few general rules to go by. Afterwards is some more text to help teach you about those strange little features that make the robots so much more deadly, but require some understanding first. General rules: 1. Try to make all the parameters line up in single columns, they're easier to read that way. 2. You MAY leave blank lines. The compiler ignores them. 3. One command is executed each cycle unless otherwise noted. 4. Examining the sample robots is the best teacher. 5. Commands may be upper-case, lower-case, or any combination. 6. Never make multiple labels of the same ID number within the same program. 7. All robots MUST have the extension ATR. ex- MYROBOT.ATR, or THISGUY.ATR Each command is executed in one program-cycle. (unless it is a particularly slow command) A. T-Robots = (c) 1992 = Ed T. Toton III pg 20 WATCH YOUR HEAT!! Over-heated robots can easily become DEAD robots! Here is the heat scale: 100+ Max speed reduced to 95%. 150+ Max speed reduced to 85%. 200+ Max speed reduced to 70%. 250+ Max speed reduced to 50%. 300+ Heat starts burning armor off. 400+ Robot stops executing commands until cools below 400 (shutdown). 500+ Robot explodes. OVER-BURN SHOULD BE USED WITH CAUTION!!! Overburn effects the following: 1) better acceleration, but more heat from it. 2) better turn speed, but more heat from it. 3) better laser effect, but more heat from it. 4) bigger explosion from death or self-destruct. 5) worse heat dissipation. (note that most things add to your heat, and on top of that your heat dissipation is lower. In other words, time to cook dinner on the armor plating). As you may have seen above, in the port listings, there is something called an "accuracy setting". This is a number from -2 to 2 that is set when you do a scan. Say for example that you have your arc-width set to 20 degrees. In this case, a robot can be 20 to the left OR right OR anywhere in between and still be registered in the scan. Now let's say the target is 20 degrees to the left. The scan would then set the accuracy to -2. It's negative because it's on the left, and it's 2 because the robot was at the edge of the scan arc. Likewise, if the robot were only 10 degrees to the left, the accuracy would be -1, because it was half-way to the side of the arc. Now let's say the robot is again 20 degrees off. Now when you fire the laser and give it the accuracy rating, it compares it to the arc-width and figures out that it's 20 degrees to the side. But the laser can only swivel up to 8 degrees, so it sets it to 8 and fires. Now if the robot was indeed 10 degrees to the side, the laser would still have to fire at 8 degrees, but it could be quite close, and perhaps the robot has moved into arc since the scan itself. Now of course, if you set your scan width to 8 or less, you'll never have to worry about a robot being beyond the laser's swivel range. There are several "setting" ports, such as the turret, and angle ports. The default settings are as follows: (in other words, it's as if these settings were at the front of your program, but they don't take time to execute): Item: Value: ----------------------- Turret Offset 0 Scan arc radius 10 Max Range 1000 Overburn off All variables are set to 0 at the beginning of the battle. A. T-Robots = (c) 1992 = Ed T. Toton III pg 21 Note that when you rotate the turret, EVERYthing that is on it turns with it. This includes the scanner AND the laser. If you really want to you can leave spaces before the commands, but the first non-space character must still be a semicolon for remarks, a colon for labels, and so forth.. Another thing you will want to remember is that the stack for your robot is only 100 in size. That means you can call 100 GOSUB's or conditional JUMPS or PUSH's before calling a return (RET command) or a POP command. Be careful: if the stack fills up, and you call a GOSUB, it will be ignored. There is no problem with having excess RETURNS (in your main-loop anyway), if you call one when the stack is empty, it too will be ignored. Having misused or improperly used these two commands is the greatest cause of robot malfunction. There is an interrupt (int 9) that is used to generate errors. This can be useful for debugging robots. You can use it to see if your robot is executing a particular subroutine, or be informed of how often a certain area of code is executed, etc.. You should use either 0 or numbers in the 90's. This is a good safety precaution since more REAL error codes may be added in future versions of this program. ----------------------------------------------------------------------------- MNEMONICS, CONSTANTS, ETC: There are many commands, constants, and so forth that can be used in this programming language. The constants are particularly useful, since with them you need not know which port and interrupt numbers are which. Number: Mnemonic: Port-Constant: Interrupt-Constant: 1 SET, MOV _SPEDOMETER _RESET 2 ADD _HEAT_SENSE _DESTRUCT 3 SUB _COMPASS _PORT 4 MPY _TURRET_OFS 5 DIV _TURRET_ABS _LOCATION 6 PUT _DAMAGE _SET_INT_VEC 7 INT _SCAN_ENEMY _TURN_NOTURRET 8 GET _ACCURACY _HEADING 9 LOC _RADAR _ERROR 10 CMP _RANDOM 11 GSB _THROTTLE 12 RET _OFS_TURRET 13 JMP _ABS_TURRET 14 JLS, JB _STEERING 15 JGR, JA _LASER 16 JEQ, JE 17 JNE _GET_ARC 18 IPO, IN _SET_ARC 19 OPO, OUT _GET_RANGE 20 DEL _SET_RANGE 21 MOD _GET_OVERBURN 22 AND _SET_OVERBURN 23 OR 24 XOR 25 NOT 26 XCHG, SWAP A. T-Robots = (c) 1992 = Ed T. Toton III pg 22 27 DO 28 LOOP 29 PUSH 30 POP ----------------------------------------------------------------------------- STAGING A COMPETITION When starting a competition, you should set up several "rules" in advance so that everyone involved can take them into account when writing their programs. Among the most important rules are: 1. Program speed. (the -P# setting) 2. What the other settings are. ----------------------------------------------------------------------------- TROUBLE-SHOOTING & SPEED-CONTROL The AT-Robots program is basically fully automatic and self-contained. It will probably either work or it won't. If there is a problem, most likely (but not definitely) you are out of luck. Here are some possible causes of your difficulty: 1. Not enough memory. 2. Incompatable graphics adapter. 3. Damaged copy of AT-robots. 4. Computer is not sufficiently IBM compatable. 5. You haven't followed any of the instructions. 6. Computer is damaged or not performing properly. 7. You're using too early a version of DOS. (suggest DOS 3.3 or higher) If you HAVE gotten the program to run, but it's too slow, there are some things you can do to speed it up. First, You can try putting only 2 or 3 robots in the arena at once. You will find that the program slows down a lot when you put 5 or 6. Another thing you can do is put the -D0 setting in. That will turn off the delay that is placed in the program to keep it running at the proper speed on faster computers. If the problem is that the program runs TOO fast, then put the -D1 setting in. You can also put the -N command. Keep playing with different settings on the -N until you get it where you want it. If the speed is too fast, you may want to put more robots, since there's nothing to stop you from doing it. Also keep in mind that the -A command slows the entire simulation dramatically. It is suggested that you use it when you have the speed to spare, and not when it's too slow. The correlation between -D and -N needs to be explained. The delay will be implemented every N cycles. Now here's how the delay works: If the number of hundredths of a second (as determined by -D) haven't gone by yet, then the A. T-Robots = (c) 1992 = Ed T. Toton III pg 23 program will sit and wait for the time to go by. If the amount of time HAS gone by, then it doesn't bother to wait for it. So if you set -N10 and -D10, you will probably not see any effect at all (unless your computer is pretty fast), simply because it will probably take more than ten hundredths (or rather one tenth) of a second to perform 10 cycles. ----------------------------------------------------------------------------- NOTICE: This program is being distributed on the "shareware" concept. It is by no means completely free. If you think the program is of use to you, please send a registration fee of $14. If you think that is rediculous, then send less (or more for that matter). If you hate the program or found too many bugs, write me and tell me, and include a graphic explanation (but don't be too harsh!! Heheheh). In any event, write to: Ed T. Toton III 7101 Talisman Lane Columbia Md 21045 And WHY should you register it? 1. Because you're supposed to. If you use AT-robots somewhat often, or several people use a copy off the same computer, or you keep it on your hard drive for lengthy periods, then it should be registered! 2. To support my continuing efforts to bring you some level of functional programs. If I get no cash, you get no improvements in these programs, and I won't be encouraged to make new and better software! 3. To get that warm glow for knowing that you supported the author of at least one of the many shareware programs you probably use. 4. To find out if there is a newer version. All you need to do is ask! But letters with money take priority! 5. You could be sick and demented and thus register everything you get your hands on. 6. To find out about my other programs you need only ask! But again, letters with money take precedence. Source code is not yet available. It may be in later versions. I regret to say that the free StratSys registrations have been discontinued. ----------------------------------------------------------------------------- DISCLAIMER: This program is provided "AS IS" and I make no gauruntees about it's performance. I will not be and can not be held responsible for any damages incurred during it's use, or as a result of it's use. It's on a "use at your own risk" basis. Nothing at all should happen, the program is harmless, but I have to say it anyway A. T-Robots = (c) 1992 = Ed T. Toton III pg 24 ----------------------------------------------------------------------------- COPYRIGHT: This program may be freely distributed (which is actually encouraged) AS IS. No one may modify this program in ANY way. ESPECIALLY where names and credit is given, and INCLUDING all the documentation, data files, and executable program files. It may NOT be used for commercial or profit-turning ventures of any kind, including sale by disk vendors, without the written consent by ME, with ONE exception: Disk vendors MAY sell it without my written consent ONLY if they charge no more than $5 higher then the cost of the disk (excluding any shipping and handling charges). NOTHING may be added to it either (except in the case of writing to the file COMMENTS.TXT, and in the case of adding more robot program files). NO BBS ads are allowed EXCEPT as zip comments, or as a single SEPERATE text file. Any robots you write for use with AT-Robots are yours and you may do what you wish with them. It is encouraged that you distribute robots around as well as this program. ----------------------------------------------------------------------------- FINAL NOTE: If you have any questions, concerns, suggestions, criticisms, donations, remarks, praise or opinions, please write! I WANT TO HEAR FROM YOU!! (the address is listed above). Ed T. Toton III "Necromancer" -1992 Oh, and one more thing. Your comments are welcome! If there are any statements or comments or suggestions you would like to make to those who later try to use AT-Robots, please feel free to add them to the file called COMMENTS.TXT. And if you think the comments are good (either yours, or the ones already in your COMMENTS.TXT file), please send them to me! I might make them a part of the next release of the program (if there is one). OTHER SOFTWARE: I have made several programs that may be of interest to you. Here is a list of some of them: (as of 12/17/92) Ramble v1.0 : =Ramble combines all the elements of Nonsense and Quick-Quotes into one full-color real-time environment where you can set the priority and influence each time of sentance generator has on the output. Ramble is better than the sum of it's parts (blab and Quick-Quotes)! SourceGen v1.0 : =Generates silly source code based upon text files you supply. Can generate gigabytes of meaningless babble at the press of a key! A. T-Robots = (c) 1992 = Ed T. Toton III pg 25 Nonsense v1.2 : =Generates silly text based upon text files you supply. Can generate gigabytes of meaningless babble at the press of a key! Quick-Quotes 2.3 : =Generates silly random quotes and text. You can have it do a "quote of the day" when you boot your computer, or a quote for when someone logs onto your bbs, or you can generate megs of nonsensical text. PigLatin v1.0 : =Turns text into pig-latin!!! Anti-Speller v1.0 : =Destroys your spelling. It is the opposite of a spell-checker. I don't think it is humanly possible to spell this badly, even on purpose! Blaze v2.6 : =VGA screen-saver. Supports password security, and a customization system (config file). Has been known to travel quickly through BBS's. FireDots v1.3 : =VGA Screen-Saver. Fireworks program, even simulates duds! Highly configurable. GeoSave v1.2 : =VGA Screen-Saver. Small geometric shapes and strange objects float and bounce around the screen. Configurable, supports password, and includes an image editor so that you can edit the existing images or create your own. CompWar v2.6 : =Latest release of CompWar, the on-line game for use with WWIV BBS systems. Date-Matcher v1.5 : =On-line match-maker program for BBS's that support DOS interrupt driven door programs (such as WWIV). Virus Farm : =On-line game. Players are viruses attempting to take over the hard drive. Designed mostly for WWIV BBS's. T-Robots v2.0 : =(one of my masterpeices) T-Robots is a system in which you program robots to fight one another. It uses a simple programming language, and you create the programs with your favorite text-editor. Great for competitions! Supports VGA, EGA, CGA, MCGA, Hercules, and many more graphics devices. AT-Robots v1.1 : =Advanced T-robots. Extremely similar to T-Robots 2.0 except the system has been improved. It supports most graphics adapters in existance (CGA, EGA, VGA, MCGA, Hercules, etc). In this one you program the robots using ATR assembly (Advanced T-Robots Assembly). Now you design your own subroutines, and access specific device ports and memory locations. The ultimate in competions of logical thought. A. T-Robots = (c) 1992 = Ed T. Toton III pg 26 StratSys v2.1 : =A 2-player VGA combat strategy game. VERY flexible. Comes with 4 game scenarios (Cival War, Naval Battle, Robot Conquest, and a medieval scenario). Expansion packs are available (at the moment one with 12 scenarios). Comes with an editor for the images and maps, so you can make your own scenarios! Dragon's Domain 1 : =A graphic adventure game. The first in the series. Each sequal also brings improvements to the graphics and the interface. Dragon's Domain 2 : =The story continues, and the challenge gets more challenging! Dragon's Domain 3 : =Yet another one!! Will it never end?? Dragon's Domain 4 : =Now it supports Adlib! Will wonders never cease?? My-Gags set 2.2 : =A set of small gag programs that I have made. They are designed to be placed in the autoexec.bat file. Over Half of them are TSR's, including one that creates "line-noise" through the keyboard buffer, one that beeps occasionally, and one that keeps changing you caps-lock/numlock/scroll-lock. Toton Utilities 1.0 =A set of 8 SMALL but potentially useful utilities. Most are TSR's. Several of them make alternate drive-lights out of other peripherals. You can make a drive LED on your screen in the corner, or make your scroll-lock act as a drive light. Included is also a program to make clicking sounds as you press keys, and a program to turn your num-lock off during boot-up (for those of you that hate your num-lock staying on after boot-up). A. T-Robots = (c) 1992 = Ed T. Toton III pg 27