136 lines
3.0 KiB
XML
136 lines
3.0 KiB
XML
; ── SWARM FORAGER ────────────────────────────
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; Random walk to find food, dead reckoning to
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; navigate home. Pheromone marks food for others.
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; Hit play, then try improving it!
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; ── Registers ──
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.alias dx r1 ; x displacement from nest
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.alias dy r2 ; y displacement from nest
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.alias ret r3 ; return address for CALL
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; ── Pheromone ──
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.const PH_FOOD CH_RED ; marks food locations
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.const PH_NEST CH_BLUE
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.const PHER_INIT 255
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.const PHER_DECAY 2
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; ── Roles (visible in simulation viewer) ──
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.tag 0 foraging
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.tag 1 homing
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; ──────────────────────────────────────────────
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main:
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set r7 PHER_INIT
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loop:
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CARRYING
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JNE r0 0 go_home
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TAG foraging
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; ── SEARCH: find food ─────────────────────────
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search:
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SENSE FOOD
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JNE r0 0 grab
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; if we are too far from the food, dont mark
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JLT r7 PHER_DECAY smell_trail
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SUB r7 PHER_DECAY
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; if there is already a trail here, dont mark
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SNIFF PH_NEST HERE r0
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JNE r0 0 smell_trail
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MARK PH_NEST r7
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smell_trail:
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SMELL PH_FOOD
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JNE r0 0 step
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SENSE EMPTY
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step:
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CALL ret move_track
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JMP loop
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grab:
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CALL ret move_track
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PICKUP
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MARK PH_FOOD 255
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SET r6 PHER_INIT
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JMP loop
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; ── GO HOME: dead reckon toward nest ──────────
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go_home:
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TAG homing
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; if we are too far from the food, dont mark
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JLT r6 PHER_DECAY sense_nest
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SUB r6 PHER_DECAY
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; if there is already a trail here, dont mark
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SNIFF PH_FOOD HERE r0
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JNE r0 0 sense_nest
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MARK PH_FOOD r6
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sense_nest:
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SENSE NEST
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JNE r0 0 deliver
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smell_nest:
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SMELL PH_NEST
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JNE r0 0 move_track
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RANDOM r0 4
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JEQ r0 0 wander ; 25% random to unstick walls
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CALL ret home_dir
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CALL ret move_track
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JMP main
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wander:
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SENSE EMPTY
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CALL ret move_track
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JMP main
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deliver:
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CALL ret move_track
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DROP
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SET r7 PHER_INIT
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JMP main
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; ══════════════════════════════════════════════
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; SUBROUTINES — CALL ret <label>, return JMP ret
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; ══════════════════════════════════════════════
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; home_dir: set r0 = direction toward nest
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home_dir:
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SET r4 dx
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JGT dx 0 hd_dxp
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SET r4 0
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SUB r4 dx
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hd_dxp:
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SET r5 dy
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JGT dy 0 hd_dyp
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SET r5 0
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SUB r5 dy
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hd_dyp:
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JGT r5 r4 hd_y
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JGT dx 0 hd_w
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SET r0 2
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JMP ret
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hd_w:
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SET r0 4
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JMP ret
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hd_y:
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JGT dy 0 hd_n
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SET r0 3
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JMP ret
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hd_n:
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SET r0 1
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JMP ret
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; move_track: MOVE r0, then update dx/dy
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move_track:
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MOVE r0
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JEQ r0 1 mt_n
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JEQ r0 2 mt_e
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JEQ r0 3 mt_s
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SUB dx 1
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JMP ret
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mt_n:
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SUB dy 1
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JMP ret
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mt_e:
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ADD dx 1
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JMP ret
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mt_s:
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ADD dy 1
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JMP ret
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