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I have attached to the end of this message the spyutils.nqh file I've
been compiling. It's not got a lot in there yet, just the routines
defined as "utility" in the Lego Spybotics ROM SDK plus the
SendRCXMessage. I'm aiming toward this file being ROM routines that
don't need access to the variable and timer space.
There are a whole bunch of interesting routines that do require access
to this space, and I'm working on a spyengine.nqh for those routines.
I'm assuming that these function definitions are implemented like
standand C macros, ie, inline code that doesn't take up code space
unless actually called.
What I'd like to get to get a working API for are the routines and
access to the world tables. I keep meaning to get time to work no
that, but that hasn't yet.
So enjoy, and please add to this work with more Spybotics information!
/*
** Spybotics API for NQC
**
** This file implements the API for access to some of the Spybotics
ROM
** routines that do NOT need variable or timer space.
**
** Translated from the Lego Spybotics ROM documentation to NQC
** by Mark Ferris (markdf2001@yahoo.com)
**
*/
#if defined(__SPY)
// The following routines are defined in this file
//SendRCXMessgae
//Action
//BasicMove
//FancyMove
//RandomMove
//SlowDownMove
//SpeedUpMove
//Disp
// Sends an RCX PBMessage to RCX or Scout
// nMessage = 1 - 255
__nolist void SendRCXMessage (const int nMessage)
{
asm { 0xe3, &nMessage };
asm { 0x17, 37 };
asm { 0x01, 1 };
}
// nSound is 0-79, -1 = no sound
// nDisplay is LED animation (0-15) to play, -1 = no animation
// nMovement is from the *Move routines defined below, -1 = no move
// nRepeat is number of times to repeat motion
// ntime is in 10ms steps
__nolist void Action (const int nSound, const int nDisplay,
const int nMovement, const int nRepeat,
const int nTime)
{
asm { 0xe3, &nSound };
asm { 0xe3, &nDisplay };
asm { 0xe3, &nMovement };
asm { 0xe3, &nRepeat };
asm { 0xe3, &nTime };
asm { 0x17, 44 };
asm { 0x01, 5 };
}
// defines for move
#define moveForward 0x0101
#define moveBackward 0x0102
#define moveSpinLeft 0x0103
#define moveSpinRight 0x0104
#define moveTurnLeft 0x0105
#define moveTurnRight 0x0106
#define moveAvoidLeft 0x0107
#define moveAvoidRight 0x0108
#define moveRest 0x0109
#define moveStop 0x010a
// time is in 10ms steps
__nolist void BasicMove (const int move, const int time)
{
asm { 0xe3, &move };
asm { 0xe3, &time };
asm { 0x17, 43 };
asm { 0x01, 2 };
}
// defines for move
#define moveZigZag 0x0301
#define moveShake 0x0302
#define moveScan 0x0303
#define moveStep 0x0304
#define moveStepBack 0x0305
#define moveSearch 0x0306
#define moveFakeLeft 0x0307
#define moveRakeRight 0x0308
#define moveBugForward 0x0309
#define moveLazy 0x030a
#define moveWalk 0x030b
#define moveWalkBack 0x030c
#define moveDance 0x030d
// time is in 10ms steps
__nolist void FancyMove (const int move, const int time)
{
asm { 0xe3, &move };
asm { 0xe3, &time };
asm { 0x17, 47 };
asm { 0x01, 2 };
}
// defines for move
#define moveRandomForward 0x0201
#define moveRandomBackward 0x0202
#define moveRandomSpinLeft 0x0203
#define moveRandomSpinRight 0x0204
#define moveRandomTurnLeft 0x0205
#define moveRandomTurnRight 0x0206
#define moveRandomRest 0x0207
// time is in 10ms steps
__nolist void RandomMove (const int move, const int time)
{
asm { 0xe3, &move };
asm { 0xe3, &time };
asm { 0x17, 46 };
asm { 0x01, 2 };
}
// defines for move
#define moveForwardSlowDown 0x0401
#define moveBackwardSlowDown 0x0402
#define moveSpinLeftSlowDown 0x0403
#define moveSpinRightSlowDown 0x0204
// time is in 10ms steps
__nolist void SlowDownMove (const int move, const int time)
{
asm { 0xe3, &move };
asm { 0xe3, &time };
asm { 0x17, 48 };
asm { 0x01, 2 };
}
// defines for move
#define moveForwardSpeedUp 0x0501
#define moveBackwardSpeedUp 0x0502
#define moveSpinLeftSpeedUp 0x0503
#define moveSpinRightSpeedUp 0x0504
// time is in 10ms steps
__nolist void SpeedUpMove (const int move, const int time)
{
asm { 0xe3, &move };
asm { 0xe3, &time };
asm { 0x17, 49 };
asm { 0x01, 2 };
}
__nolist void Disp (const int nDisplay)
{
asm { 0xe3, &nDisplay } ;
asm { 0x17, 42 };
asm { 0x01, 1 };
}
#endif
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