;
;(有)姫路ソフトワークス　ROBOXERO　コントロール
;メインプログラム
; Original
;  デアゴスティーニ週刊ロボゼロ68号 F5.TXT
;
; File name: F05mXX.TXT
; Modify by Micono Utilities
;  2012/07/29 v01 File連結
;  2012/08/01 v02 GYRO調整
;  2012/08/05 v03 Wirelessリモコン

;------------
;START WAIT
;------------
JUMPIF(V109,>=,100,MAINKEYWAITGYROON) ;IRのみ=100, VS-C1=200
;
:START
V0=0
V1=0
V2=0
V3=0
V4=0
SOUND
V109=100

;---------------
;START KEY WAIT
;---------------
V25=0-5120
V26=0-5099
V27=0-5078
;
:STARTKEYCHECK
V130=0
:STARTKEYWAIT
JUMPIF(V130,#,0,STARTKEYANZ)
JUMPIF(V126,=,3,VSC1)
JUMP(STARTKEYWAIT)

;--------------------
;  START KEY ANALYZE
;--------------------
:STARTKEYANZ
JUMPIF(V130,=,V25,MODEAT)
JUMPIF(V130,=,V26,MODEBT)
JUMPIF(V130,=,V27,MODECT)
CALL(ERRBEEP)
JUMP(STARTKEYCHECK)

;---------------
; VS-C1を用いる
;---------------
:VSC1
V109=200

;赤外線はモードA

;---------------------
; リモコンモード設定
;---------------------
:MODEAT
V25=0-5120
JUMP(KEYDATASET)

:MODEBT
V25=0-5099
JUMP(KEYDATASET)

:MODECT
V25=0-5078
JUMP(KEYDATASET)

;-------------------
;	KEYDATA SET
;-------------------
:KEYDATASET
V00=21
V01=25
V02=26
:KEYDATASETLOOP
(V02=(V01 + 1
V01=V01 + 1
V02=V02 + 1
V00=V00 - 1
JUMPIF(V00,>,0,KEYDATASETLOOP)

;---------------------------
;	HOME SET&POWER ON
;READ FROM file63- sector64 
;----------------------------
:HOMESETPOWERON
V00=1
V01=63
V02=64
V03=0
SDREAD
V00=24
V01=133
V02=457
:HSETLOOP
(V02 = (V01
V01=V01+1
V02=V02+1
V00=V00-1
JUMPIF(V00,>,0,HSETLOOP)
HOMEPOS
WAIT(200)
V00=200
MOTORSPEED
V00=1
V01=1
V02=1
V03=1
V04=1
V05=1
V06=1
V07=1
V08=1
V09=1
V10=1
V11=1
V12=1
V13=1
V14=1
V15=1
V16=1
V17=1
V18=1
V19=1
V20=1
V21=1
V22=1
V23=1
POWER
WAIT(200)
WAIT(200)
WAIT(200)
V00=0
MOTORSPEED
WAIT(50)
CALL(OKBEEP)
CALL(OKBEEP)
CALL(OKBEEP)
Move(0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1300)

;------------------
; ジャイロ初期設定
;------------------
V46=10 ;ピッチ軸ジャイロ係数
V47=5 ;ロール軸ジャイロ係数
:GYROINIT
CALL(GYROON) ;ジャイロ初期化

;---------------------
;	MAIN KEY WAIT
;---------------------
:MAINKEYWAITGYROON
(N389=1 ;ジャイロON
:MAINKEYWAIT
V130=0
:MAINKEYWAITLOOP
V00=INPUTADC(1)
JUMPIF(V00,<,105,BATTERYERRROR)
JUMPIF(V130,#,0,MAINKEYANZ)
JUMPIF(V109,=,200,WMAINKEYWAITLOOP) ;Vコン
JUMP(MAINKEYWAITLOOP)
;
; START KEY ANALYZE 2
;
:MAINKEYANZ
;
; STANDARD KEY CHECK
;
JUMPIF(V130,=,V26,FILE679ABC)
JUMPIF(V130,=,V28,FILE679ABC)
JUMPIF(V130,=,V30,FILE679ABC)
JUMPIF(V130,=,V32,FILE679ABC)
JUMPIF(V130,=,V31,FILE679ABC)
JUMPIF(V130,=,V33,FILE679ABC)
;
JUMPIF(V130,=,V29,WAKEUP)
;
JUMPIF(V130,=,V34,KEY123456789)
JUMPIF(V130,=,V35,KEY123456789)
JUMPIF(V130,=,V36,KEY123456789)
JUMPIF(V130,=,V37,KEY123456789)
JUMPIF(V130,=,V38,KEY123456789)
JUMPIF(V130,=,V39,KEY123456789)
JUMPIF(V130,=,V40,KEY123456789)
JUMPIF(V130,=,V41,KEY123456789)
JUMPIF(V130,=,V42,KEY123456789)
;
; FUNCTION KEY CHECK
;
JUMPIF(V130,=,V43,MODEA)
JUMPIF(V130,=,V44,MODEB)
JUMPIF(V130,=,V45,MODEC)
;
JUMPIF(V130,=,V25,EXIT)
;
CALL(ERRBEEP)
JUMP(MAINKEYWAIT)

;------------------
; VS-C1 Main Check
;------------------
:WMAINKEYWAITLOOP
JUMPIF(V120,#,0,WMAINKEYANZ)
JUMPIF(V121,#,0,WMAINKEYANZ)
JUMPIF(V122,<,40,WMAINKEYANZ)
JUMPIF(V122,>,87,WMAINKEYANZ)
JUMPIF(V123,<,40,WMAINKEYANZ)
JUMPIF(V123,>,87,WMAINKEYANZ)
JUMPIF(V124,<,40,WMAINKEYANZ)
JUMPIF(V124,>,87,WMAINKEYANZ)
JUMPIF(V125,<,40,WMAINKEYANZ)
JUMPIF(V125,>,87,WMAINKEYANZ)
JUMPIF(V126,#,0,WMAINKEYANZ)
JUMP(MAINKEYWAITLOOP)
;
:WMAINKEYANZ
; Left analogue stick
JUMPIF(V123,<,40,WFILE679ABC)
JUMPIF(V123,>,87,WFILE679ABC)
JUMPIF(V122,<,40,WFILE679ABC)
JUMPIF(V122,>,87,WFILE679ABC)
JUMPIF(V120,=,2,WFILE679ABC)
JUMPIF(V120,=,8,WFILE679ABC)
; Left analogue stick
JUMPIF(V125,<,40,GFILE679ABC)
JUMPIF(V125,>,87,GFILE679ABC)
JUMPIF(V124,<,40,GFILE679ABC)
JUMPIF(V124,>,87,GFILE679ABC)
JUMPIF(V120,=,4,GFILE679ABC)
JUMPIF(V120,=,16,GFILE679ABC)
;
JUMPIF(V120,=,1,WAKEUP)
;
JUMPIF(V121,=,9,KEY123456789)
JUMPIF(V121,=,1,KEY123456789)
JUMPIF(V121,=,5,KEY123456789)
JUMPIF(V121,=,8,KEY123456789)
JUMPIF(V126,=,12,KEY123456789)
JUMPIF(V121,=,4,KEY123456789)
JUMPIF(V121,=,10,KEY123456789)
JUMPIF(V121,=,12,KEY123456789)
JUMPIF(V121,=,6,KEY123456789)
;
; FUNCTION KEY CHECK
;
JUMPIF(V121,=,16,MODEA)
;JUMPIF(V121,=,64,WMODEB)
;JUMPIF(V121,=,32,WMODEC)
;
JUMPIF(V126,=,3,EXIT)
;
CALL(ERRBEEP)
JUMP(MAINKEYWAIT)

;---------------
;MODE A CHECK
;---------------
:MODEA
CALL(OKBEEP)
:MODEALOOP
V130=0
:MODEAWAITLOOP
JUMPIF(V130,#,0,MODEAANZ)
JUMPIF(V109,=,200,WMODEA)
JUMP(MODEAWAITLOOP)
;
; KEY CHECK
;
:MODEAANZ
JUMPIF(V130,=,V34,KEYA123456789)
JUMPIF(V130,=,V35,KEYA123456789)
JUMPIF(V130,=,V36,KEYA123456789)
JUMPIF(V130,=,V37,KEYA123456789)
JUMPIF(V130,=,V38,KEYA123456789)
JUMPIF(V130,=,V39,KEYA123456789)
JUMPIF(V130,=,V40,KEYA123456789)
JUMPIF(V130,=,V41,KEYA123456789)
JUMPIF(V130,=,V42,KEYA123456789)
JUMPIF(V130,=,V43,MODEAA)
JUMPIF(V130,=,V44,MODEAB)
;
CALL(ERRBEEP)
JUMP(MODEALOOP)

;----------------------------
; MODE A - VS-C1 Main Check
;----------------------------
:WMODEA
JUMPIF(V120,#,0,WMODEAANZ)
JUMPIF(V121,#,0,WMODEAANZ)
JUMPIF(V122,<,40,WMODEAANZ)
JUMPIF(V122,>,87,WMODEAANZ)
JUMPIF(V123,<,40,WMODEAANZ)
JUMPIF(V123,>,87,WMODEAANZ)
JUMPIF(V124,<,40,WMODEAANZ)
JUMPIF(V124,>,87,WMODEAANZ)
JUMPIF(V125,<,40,WMODEAANZ)
JUMPIF(V125,>,87,WMODEAANZ)
JUMPIF(V126,#,0,WMODEAANZ)
JUMP(MODEAWAITLOOP)
;
; KEY CHECK
;
:WMODEAANZ
JUMPIF(V121,=,9,KEYA123456789)
JUMPIF(V121,=,1,KEYA123456789)
JUMPIF(V121,=,5,KEYA123456789)
JUMPIF(V121,=,8,KEYA123456789)
JUMPIF(V126,=,12,KEYA123456789)
JUMPIF(V121,=,4,KEYA123456789)
JUMPIF(V121,=,10,KEYA123456789)
JUMPIF(V121,=,2,KEYA123456789)
JUMPIF(V121,=,6,KEYA123456789)
;
CALL(ERRBEEP)
JUMP(MODEALOOP)

;---------------
;MODE B CHECK
;---------------
:MODEB
CALL(OKBEEP)
:MODEBLOOP
V130=0
:MODEBWAITLOOP
JUMPIF(V130,#,0,MODEBANZ)
JUMP(MODEBWAITLOOP)
;
; KEY CHECK
;
:MODEBANZ
JUMPIF(V130,=,V34,KEYB1)
JUMPIF(V130,=,V35,KEYB2)
JUMPIF(V130,=,V36,KEYB3)
JUMPIF(V130,=,V37,KEYB4)
JUMPIF(V130,=,V38,KEYB5)
JUMPIF(V130,=,V39,KEYB6)
JUMPIF(V130,=,V40,KEYB7)
JUMPIF(V130,=,V41,KEYB8)
JUMPIF(V130,=,V42,KEYB9)
CALL(ERRBEEP)
JUMP(MODEBLOOP)

;---------------
;MODE C CHECK
;---------------
:MODEC
CALL(OKBEEP)
:MODECLOOP
V130=0
:MODECWAITLOOP
JUMPIF(V130,#,0,MODECANZ)
JUMP(MODECWAITLOOP)
;
; KEY CHECK
;
:MODECANZ
JUMPIF(V130,=,V34,KEYCU1)
JUMPIF(V130,=,V35,KEYCU2)
JUMPIF(V130,=,V36,KEYCU3)
CALL(ERRBEEP)
JUMP(MODECLOOP)
;---------------
;MODE AA CHECK
;---------------
:MODEAA
CALL(OKBEEP)
:MODEAALOOP
V130=0
:MODEAAWAITLOOP
JUMPIF(V130,#,0,MODEAAANZ)
JUMP(MODEAAWAITLOOP)
;
; KEY CHECK
;
:MODEAAANZ
V46=V130-V33
JUMPIF(V46,<,1,MODEAAANZERR)
JUMPIF(V46,>,9,MODEAAANZERR)
V46=V46+5
CALL(OKBEEP)
JUMP(GYROINIT)
:MODEAAANZERR
CALL(ERRBEEP)
JUMP(MODEAALOOP)

;---------------
;MODE AB CHECK
;---------------
:MODEAB
CALL(OKBEEP)
:MODEABLOOP
V130=0
:MODEABWAITLOOP
JUMPIF(V130,#,0,MODEABANZ)
JUMP(MODEABWAITLOOP)
;
; KEY CHECK
;
:MODEABANZ
V47=V130-V33
JUMPIF(V47,<,1,MODEABANZERR)
JUMPIF(V47,>,9,MODEABANZERR)
CALL(OKBEEP)
JUMP(GYROINIT)
:MODEABANZERR
CALL(ERRBEEP)
JUMP(MODEABLOOP)

;---------------
;	MODE-C1x
;---------------
:KEYCU1
CALL(OKBEEP)
:MODEC1ULOOP
V130=0
:MODEC1UWAITLOOP
JUMPIF(V130,#,0,MODEC1UANZ)
JUMP(MODEC1UWAITLOOP)
;
; KEY CHECK
;
:MODEC1UANZ
JUMPIF(V130,=,V34,KEYC11)
JUMPIF(V130,=,V35,KEYC12)
JUMPIF(V130,=,V36,KEYC13)
JUMPIF(V130,=,V37,KEYC14)
JUMPIF(V130,=,V38,KEYC15)
JUMPIF(V130,=,V39,KEYC16)
JUMPIF(V130,=,V40,KEYC17)
JUMPIF(V130,=,V41,KEYC18)
JUMPIF(V130,=,V42,KEYC19)
CALL(ERRBEEP)
JUMP(MODEC1ULOOP)

;---------------
;	MODE-C2x
;---------------
:KEYCU2
CALL(OKBEEP)
:MODEC2ULOOP
V130=0
:MODEC2UWAITLOOP
JUMPIF(V130,#,0,MODEC2UANZ)
JUMP(MODEC2UWAITLOOP)
;
; KEY CHECK
;
:MODEC2UANZ
JUMPIF(V130,=,V34,KEYC21)
JUMPIF(V130,=,V35,KEYC22)
JUMPIF(V130,=,V36,KEYC23)
JUMPIF(V130,=,V37,KEYC24)
JUMPIF(V130,=,V38,KEYC25)
JUMPIF(V130,=,V39,KEYC26)
JUMPIF(V130,=,V40,KEYC27)
JUMPIF(V130,=,V41,KEYC28)
JUMPIF(V130,=,V42,KEYC29)
CALL(ERRBEEP)
JUMP(MODEC2ULOOP)

;---------------
;	MODE-C3x
;---------------
:KEYCU3
CALL(OKBEEP)
:MODEC3ULOOP
V130=0
:MODEC3UWAITLOOP
JUMPIF(V130,#,0,MODEC3UANZ)
JUMP(MODEC3UWAITLOOP)
;
; KEY CHECK
;
:MODEC3UANZ
JUMPIF(V130,=,V34,KEYC31)
JUMPIF(V130,=,V35,KEYC32)
JUMPIF(V130,=,V36,KEYC33)
JUMPIF(V130,=,V37,KEYC34)
CALL(ERRBEEP)
JUMP(MODEC3ULOOP)

;===============
;	EXECUTE
;===============
:FILE679ABC
V05=V108 OR V107
JUMPIF(V05,#,0,MOTFILE679ABC)
V00=6
FJUMP
:MOTFILE679ABC
V00=7
FJUMP
;
:WFILE679ABC
V05=V108 OR V107
JUMPIF(V05,#,0,WMOTFILE679ABC)
V00=16
FJUMP
:WMOTFILE679ABC
V00=17
FJUMP
;
:GFILE679ABC
V00=18
FJUMP
;
:WAKEUP
;(N389=0
V00=8
FJUMP
;
:KEY123456789
V00=9
FJUMP
;
:KEYA123456789
V00=10
FJUMP
;
:KEYB1
V00=31
FJUMP
:KEYB2
V00=32
FJUMP
:KEYB3
V00=33
FJUMP
:KEYB4
V00=34
FJUMP
:KEYB5
V00=35
FJUMP
:KEYB6
V00=36
FJUMP
:KEYB7
V00=37
FJUMP
:KEYB8
V00=38
FJUMP
:KEYB9
V00=39
FJUMP
;
:KEYC11
V00=40
FJUMP
:KEYC12
V00=41
FJUMP
:KEYC13
V00=42
FJUMP
:KEYC14
V00=43
FJUMP
:KEYC15
V00=44
FJUMP
:KEYC16
V00=45
FJUMP
:KEYC17
V00=46
FJUMP
:KEYC18
V00=47
FJUMP
:KEYC19
V00=48
FJUMP
;
:KEYC21
V00=49
FJUMP
:KEYC22
V00=50
FJUMP
:KEYC23
V00=51
FJUMP
:KEYC24
V00=52
FJUMP
:KEYC25
V00=53
FJUMP
:KEYC26
V00=54
FJUMP
:KEYC27
V00=55
FJUMP
:KEYC28
V00=56
FJUMP
:KEYC29
V00=57
FJUMP
;
:KEYC31
V00=58
FJUMP
:KEYC32
V00=59
FJUMP
:KEYC33
V00=60
FJUMP
:KEYC34
V00=61
FJUMP

;----------
; OK音
;----------
:OKBEEP
V00=62
V01=192
V02=0
V03=20
V04=0
SOUND
WAIT(100)
RETURN

;----------
; エラー音
;----------
:ERRBEEP
V00=62
V01=213
V02=0
V03=20
V04=0
SOUND
RETURN

;----------
; 電池切れ
;----------
:BATTERYERRROR
V00=62
V01=42
V02=0
V03=53
V04=0
SOUND
WAIT(200)
WAIT(200)
WAIT(200)
SOUND
WAIT(200)
WAIT(200)
WAIT(200)
SOUND
WAIT(200)
WAIT(200)
WAIT(200)

;-----
:EXIT
;-----
CALL(GYROOFF)
Move(128,-226,2,333,1,141,-9,768,589,-1000,-36,-1095,1065,92,979,-623,-818,97,13,-1,-385,-17,217,-166,3000)
WAIT(200)
V00=0
V01=0
V02=0
V03=0
V04=0
V05=0
V06=0
V07=0
V08=0
V09=0
V10=0
V11=0
V12=0
V13=0
V14=0
V15=0
V16=0
V17=0
V18=0
V19=0
V20=0
V21=0
V22=0
V23=0
POWER
V99=0
JUMP(START)

;--------------
; ジャイロ設定
;--------------
:GYROON
(N389=0
(N393=74
(N394=74
(N396=0
(N398=0
(N397=V46
(N399=0-V46
(N401=0
(N403=0
(N402=V47
(N404=V47
;(N389=1
RETURN

:GYROOFF
(N389=0
(N393=74
(N394=74
(N396=0
(N398=0
(N397=0
(N399=0
(N401=0
(N403=0
(N402=0
(N404=0
(N389=0
RETURN