RobotDiscoBot

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1/* Disco Bot
2
3 This sketch shows you how to use the melody playing
4
5 feature of the robot, with some really cool 8-bit music.
6
7 Music will play when the robot is turned on, and it
8
9 will show you some dance moves.
10
11 Circuit:
12
13 * Arduino Robot
14
15 created 1 May 2013
16
17 by X. Yang
18
19 modified 12 May 2013
20
21 by D. Cuartielles
22
23 This example is in the public domain
24
25 */
26
27#include <ArduinoRobot.h> // include the robot library
28#include <Wire.h>
29
30/* Dancing steps:
31
32  S: stop
33
34  L: turn left
35
36  R: turn right
37
38  F: go forward
39
40  B: go backwards
41
42  The number after each command determines how long
43
44  each step lasts. Each number is 1/2 second long.
45
46  The "\0" indicates end of string
47
48*/
49char danceScript[] = "S4L1R1S2F1B1S1\0";
50
51int currentScript = 0; // what step are we at
52
53int currentSong = 0; // keep track of the current song
54static const int SONGS_COUNT = 3; // number of songs
55
56// an array to hold the songs
57char musics[][11] = {
58
59  "melody.sqm",
60
61  "menu.sqm",
62
63  "chase.sqm",
64};
65
66// variables for non-blocking delay
67long waitFrom;
68long waitTime = 0;
69
70void setup() {
71
72  // initialize the Robot, SD card, display, and speaker
73
74  Robot.begin();
75
76  Robot.beginSpeaker();
77
78  Robot.beginSD();
79
80  Robot.beginTFT();
81
82  // draw "lg0.bmp" and "lg1.bmp" on the screen
83
84  Robot.displayLogos();
85
86  // Print instructions to the screen
87
88  Robot.text("1. Use left and\n right key to switch\n song", 5, 5);
89
90  Robot.text("2. Put robot on the\n ground to dance", 5, 33);
91
92  // wait for a few soconds
93
94  delay(3000);
95
96  setInterface(); // display the current song
97
98  play(0);  //play the first song in the array
99
100  resetWait();  //Initialize non-blocking delay
101}
102
103void loop() {
104
105  // read the buttons on the robot
106
107  int key = Robot.keyboardRead();
108
109  // Right/left buttons play next/previous song
110
111  switch (key) {
112
113    case BUTTON_UP:
114
115    case BUTTON_LEFT:
116
117      play(-1);  //play previous song
118
119      break;
120
121    case BUTTON_DOWN:
122
123    case BUTTON_RIGHT:
124
125      play(1);  //play next song
126
127      break;
128
129  }
130
131  // dance!
132
133  runScript();
134}
135
136// Dancing function
137void runScript() {
138
139  if (!waiting()) { // if the previous instructions have finished
140
141    // get the next 2 commands (direction and duration)
142
143    parseCommand(danceScript[currentScript], danceScript[currentScript + 1]);
144
145    currentScript += 2;
146
147    if (danceScript[currentScript] == '\0') { // at the end of the array
148
149      currentScript = 0;  // start again at the beginning
150
151    }
152
153  }
154}
155
156// instead of delay, use this timer
157
158bool waiting() {
159
160  if (millis() - waitFrom >= waitTime) {
161
162    return false;
163
164  } else {
165
166    return true;
167
168  }
169}
170
171// how long to wait
172void wait(long t) {
173
174  resetWait();
175
176  waitTime = t;
177}
178
179// reset the timer
180void resetWait() {
181
182  waitFrom = millis();
183}
184
185// read the direction and dirstion of the steps
186void parseCommand(char dir, char duration) {
187
188  //convert the scripts to action
189
190  switch (dir) {
191
192    case 'L':
193
194      Robot.motorsWrite(-255, 255);
195
196      break;
197
198    case 'R':
199
200      Robot.motorsWrite(255, -255);
201
202      break;
203
204    case 'F':
205
206      Robot.motorsWrite(255, 255);
207
208      break;
209
210    case 'B':
211
212      Robot.motorsWrite(-255, -255);
213
214      break;
215
216    case 'S':
217
218      Robot.motorsStop();
219
220      break;
221
222  }
223
224  //You can change "500" to change the pace of dancing
225
226  wait(500 * (duration - '0'));
227}
228
229// display the song
230void setInterface() {
231
232  Robot.clearScreen();
233
234  Robot.stroke(0, 0, 0);
235
236  Robot.text(musics[0], 0, 0);
237}
238
239// display the next song
240void select(int seq, bool onOff) {
241
242  if (onOff) { //select
243
244    Robot.stroke(0, 0, 0);
245
246    Robot.text(musics[seq], 0, 0);
247
248  } else { //deselect
249
250    Robot.stroke(255, 255, 255);
251
252    Robot.text(musics[seq], 0, 0);
253
254  }
255}
256
257// play the selected song
258void play(int seq) {
259
260  select(currentSong, false);
261
262  if (currentSong <= 0 && seq == -1) { //previous of 1st song?
263
264    currentSong = SONGS_COUNT - 1; //go to last song
265
266  } else if (currentSong >= SONGS_COUNT - 1 && seq == 1) { //next of last?
267
268    currentSong = 0;  //go to 1st song
269
270  } else {
271
272    currentSong += seq;  //next song
273
274  }
275
276  Robot.stopPlayFile();
277
278  Robot.playFile(musics[currentSong]);
279
280  select(currentSong, true);  //display the current song
281}