1 | /* Disco Bot
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2 |
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3 | This sketch shows you how to use the melody playing
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4 | feature of the robot, with some really cool 8-bit music.
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5 | Music will play when the robot is turned on, and it
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6 | will show you some dance moves.
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7 |
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8 | Circuit:
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9 | * Arduino Robot
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10 |
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11 | created 1 May 2013
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12 | by X. Yang
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13 | modified 12 May 2013
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14 | by D. Cuartielles
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15 |
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16 | This example is in the public domain
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17 | */
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18 |
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19 | #include <ArduinoRobot.h> // include the robot library
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20 | #include <Wire.h>
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21 | #include <SPI.h>
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22 |
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23 | /* Dancing steps:
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24 | S: stop
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25 | L: turn left
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26 | R: turn right
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27 | F: go forward
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28 | B: go backwards
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29 |
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30 | The number after each command determines how long
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31 | each step lasts. Each number is 1/2 second long.
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32 |
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33 | The "\0" indicates end of string
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34 | */
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35 | char danceScript[] = "S4L1R1S2F1B1S1\0";
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36 |
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37 | int currentScript = 0; // what step are we at
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38 |
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39 | int currentSong = 0; // keep track of the current song
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40 | static const int SONGS_COUNT = 3; // number of songs
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41 |
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42 | // an array to hold the songs
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43 | char musics[][11] = {
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44 | "melody.sqm",
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45 | "menu.sqm",
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46 | "chase.sqm",
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47 | };
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48 |
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49 | // variables for non-blocking delay
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50 | long waitFrom;
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51 | long waitTime = 0;
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52 |
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53 | void setup() {
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54 | // initialize the Robot, SD card, display, and speaker
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55 | Robot.begin();
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56 | Robot.beginSpeaker();
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57 | Robot.beginSD();
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58 | Robot.beginTFT();
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59 |
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60 | // draw "lg0.bmp" and "lg1.bmp" on the screen
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61 | Robot.displayLogos();
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62 |
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63 | // Print instructions to the screen
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64 | Robot.text("1. Use left and\n right key to switch\n song", 5, 5);
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65 | Robot.text("2. Put robot on the\n ground to dance", 5, 33);
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66 |
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67 | // wait for a few soconds
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68 | delay(3000);
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69 |
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70 | setInterface(); // display the current song
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71 | play(0); //play the first song in the array
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72 |
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73 | resetWait(); //Initialize non-blocking delay
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74 | }
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75 |
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76 | void loop() {
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77 | // read the butttons on the robot
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78 | int key = Robot.keyboardRead();
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79 |
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80 | // Right/left buttons play next/previous song
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81 | switch (key) {
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82 | case BUTTON_UP:
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83 | case BUTTON_LEFT:
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84 | play(-1); //play previous song
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85 | break;
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86 | case BUTTON_DOWN:
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87 | case BUTTON_RIGHT:
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88 | play(1); //play next song
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89 | break;
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90 | }
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91 |
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92 | // dance!
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93 | runScript();
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94 | }
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95 |
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96 | // Dancing function
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97 | void runScript() {
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98 | if (!waiting()) { // if the previous instructions have finished
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99 | // get the next 2 commands (direction and duration)
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100 | parseCommand(danceScript[currentScript], danceScript[currentScript + 1]);
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101 | currentScript += 2;
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102 | if (danceScript[currentScript] == '\0') // at the end of the array
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103 | currentScript = 0; // start again at the beginning
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104 | }
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105 | }
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106 |
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107 | // instead of delay, use this timer
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108 | boolean waiting() {
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109 | if (millis() - waitFrom >= waitTime)
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110 | return false;
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111 | else
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112 | return true;
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113 | }
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114 |
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115 | // how long to wait
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116 | void wait(long t) {
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117 | resetWait();
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118 | waitTime = t;
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119 | }
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120 |
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121 | // reset the timer
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122 | void resetWait() {
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123 | waitFrom = millis();
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124 | }
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125 |
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126 | // read the direction and dirstion of the steps
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127 | void parseCommand(char dir, char duration) {
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128 | //convert the scripts to action
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129 | switch (dir) {
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130 | case 'L':
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131 | Robot.motorsWrite(-255, 255);
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132 | break;
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133 | case 'R':
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134 | Robot.motorsWrite(255, -255);
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135 | break;
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136 | case 'F':
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137 | Robot.motorsWrite(255, 255);
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138 | break;
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139 | case 'B':
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140 | Robot.motorsWrite(-255, -255);
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141 | break;
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142 | case 'S':
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143 | Robot.motorsStop();
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144 | break;
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145 | }
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146 | //You can change "500" to change the pace of dancing
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147 | wait(500 * (duration - '0'));
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148 | }
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149 |
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150 | // display the song
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151 | void setInterface() {
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152 | Robot.clearScreen();
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153 | Robot.stroke(0, 0, 0);
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154 | Robot.text(musics[0], 0, 0);
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155 | }
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156 |
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157 | // display the next song
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158 | void select(int seq, boolean onOff) {
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159 | if (onOff) { //select
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160 | Robot.stroke(0, 0, 0);
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161 | Robot.text(musics[seq], 0, 0);
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162 | } else { //deselect
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163 | Robot.stroke(255, 255, 255);
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164 | Robot.text(musics[seq], 0, 0);
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165 | }
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166 | }
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167 |
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168 | // play the slected song
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169 | void play(int seq) {
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170 | select(currentSong, false);
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171 | if (currentSong <= 0 && seq == -1) { //previous of 1st song?
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172 | currentSong = SONGS_COUNT - 1; //go to last song
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173 | } else if (currentSong >= SONGS_COUNT - 1 && seq == 1) { //next of last?
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174 | currentSong = 0; //go to 1st song
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175 | } else {
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176 | currentSong += seq; //next song
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177 | }
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178 | Robot.stopPlayFile();
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179 | Robot.playFile(musics[currentSong]);
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180 | select(currentSong, true); //display the current song
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181 | }
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