Subject:
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Re: Arrays and proximity
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Newsgroups:
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lugnet.robotics.spybotics
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Date:
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Thu, 27 Jan 2005 22:04:04 GMT
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Viewed:
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7376 times
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In lugnet.robotics.spybotics, Kim Øyhus wrote:
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I just got my Spybotics set cheaply, and I now want to start my machine
intellligence experiment. However, I need arrays to process inputs and store
experiences. How large can they be in the spybot? How can I use the flash?
And how can I use the proximity sensors?
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The Spybot has a limited number of global (32) variables. NQC lets you access
these via an array syntax. MindScript and NQC also let you use pointers to
variables which effectively is an array. The maximum size of an array is less
than 32. The Spybot also has an area in its flash memory which can be directly
read and written via program code. If you don’t want to preserve the Spybot
Game information in the flash memory then you can read and write to 256
byte-sized flash memory addresses. If you do want to preserve that information
then you can only use 128 bytes of this region (addresses 0x80 through 0xff).
LASM, MindScript, and NQC can all access this region of memory. NQC doesn’t
give you access to this memory space via its standard array syntax but it does
let you access it as an array via a slightly different syntax. The proximity
sensors can be accessed using the appropriate MindScript or NQC API syntax.
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Yesterday I studied LASM, and to my horror: No arrays, no indexing, nothing!
Ghastly! It is NOT turing machine compatible. It is in fact not a computer,
just a state machine. Perhaps self modifying code would do the trick. Any
advice on that?
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I don’t follow you here. The Spybot is indeed a computer. You can access
memory as if it were an array using LASM (as well as MindScript and NQC).
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I got quite impressed with NQC, which do have arrays, and I wonder how those
were implemented. Self modifying code again? Bytecodes not in LASM?
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The LASM opcodes and sources do let you use indirect sources for accessing
memory locations. Arrays and pointers in NQC are implemented using the Indirect
source.
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But it seems
to lack control of proximity sensor. Could I put that in myself with some
#pragma or similar?
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The Spybot API which is included in recent versions of NQC does give access to
the Spybot world relationship table information. You don’t want to use versions
of NQC older than 3.0a2 with the Spybot because of a problem in the subroutine
code generation (if you use any subroutines).
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Then I discovered BrickOS. Perfect! ...except that it just runs on the RCX,
not the spybots. Can that be fixed? Could I fix that, with a little help?
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As Steve already explained, you can’t replace the firmware in the Spybot brick.
Here is a very simple sample MindScript program demonstrating the use of
pointers, flash memory (eeprom), and proximity information:
program demo {
#include<Spybot.h>
var x
main {
local nIndex
local i
local p
p = @x
i = 0
x = 0x80
while i < 10
{
eeprom[x] = i
p^ = x + 1
}
find world[nIndex,iRange] > cNowhere {
eeprom[0xa0] = world[nIndex, iRange]
if world[nIndex,iShortID] < cPCID
{
eeprom[x] = eeprom[x] + 1
}
}
}
}
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Here’s the LASM equivalent:
;Program demo
;----------------------------------------
;Main task
task 8
Main:
senm 0,1,0
senm 1,4,0
setv 33,2,31
setv 34,2,0
setv 31,2,128
While0001:
chk 2,10,0,0,34,EndWhile0001
set 54,31,0,34
setv 32,0,31
sumv 32,2,1
set 36,33,0,32
jmp While0001
EndWhile0001:
setv 35,2,-1
Find0002:
find 35,45,0,2,0
chkl 2,-1,3,0,35,EndFind0003
set 20,160,45,35
;If004:
chk 2,7,0,49,35,EndIf0004
set 0,32,54,31
sumv 32,2,1
set 54,31,0,32
EndIf0004:
jmp Find0002
EndFind0003:
EndMain:
endt
;----------------------------------------
;Main (task 8) code size: 103 bytes
;----------------------------------------
;Total code size: 103 bytes
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Here’s an NQC program demonstrating some of these same concepts:
#pragma noinit
#define Eeprom(n) @@(0x1436)[(n)]
#define World(i, n) @@(0x322a+(i))[(n)]
#define WorldShortID(n) @@(0x322a+SPY_SHORTID)[(n)]
#define WorldLinkID(n) @@(0x322a+SPY_LINKID)[(n)]
#define WorldRange(n) @@(0x322a+SPY_RANGE)[(n)]
#define WorldDirection(n) @@(0x322a+SPY_DIRECTION)[(n)]
#define WorldAspect(n) @@(0x322a+SPY_ASPECT)[(n)]
#define WorldNote(n) @@(0x322a+SPY_NOTE)[(n)]
task main()
{
int x = 0;
int t = -1;
int* p = &x;
ClearWorld();
FindWorld(t, SPY_RANGE, REL_GT, RANGE_NOWHERE);
while (t != -1)
{
SetWorldNote(t, 40);
WorldNote(t) = 40;
SetTargetID(t);
x = WorldShortID(t);
x = WorldRange(t);
x = WorldNote(t);
/*
GetWorld(SPY_SHORTID, t, x);
GetWorld(SPY_LINKID, t, x);
GetWorld(SPY_RANGE, t, x);
GetWorld(SPY_DIRECTION, t, x);
GetWorld(SPY_ASPECT, t, x);
GetWorld(SPY_INFO, t, x);
GetWorld(SPY_NOTE, t, x);
*/
FindWorld(t, SPY_RANGE, REL_GT, RANGE_NOWHERE);
}
SetTargetNote(x);
x = Target(SPY_SHORTID);
x = Target(SPY_LINKID);
x = Target(SPY_RANGE);
x = Target(SPY_DIRECTION);
x = Target(SPY_ASPECT);
x = Target(SPY_INFO);
x = Target(SPY_NOTE);
int i;
x = 0x80;
for(i=0; i<10; i++)
{
Eeprom(x) = i;
// x++;
*p += 1;
}
Eeprom(0x81) = 11;
i = Eeprom(x);
}
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The #defines at the top of this NQC sample will very likely be in the next
official NQC API.
John Hansen
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Message is in Reply To:
 | | Arrays and proximity
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| I just got my Spybotics set cheaply, and I now want to start my machine intellligence experiment. However, I need arrays to process inputs and store experiences. How large can they be in the spybot? How can I use the flash? And how can I use the (...) (19 years ago, 27-Jan-05, to lugnet.robotics.spybotics)
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