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dance.c
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#include "dance.h"
#include <pololu/orangutan.h>
/*
* buzzer1: for the Orangutan LV/SV-xx8
*
* Uses the OrangutanBuzzer library to play a series of notes on the
* Orangutan's buzzer. It also uses the OrangutanLCD library to
* display the notes its playing, and it uses the OrangutanPushbuttons
* library to allow the user to stop/reset the melody with the top
* pushbutton.
*
* http://www.pololu.com/docs/0J20/6.d
* http://www.pololu.com
* http://forum.pololu.com
*/
#define MELODY_LENGTH 203
#define NOTE_C4 262
#define NOTE_D4 294
#define NOTE_E4 330
#define NOTE_F4 349
#define NOTE_G4 392
#define NOTE_A4 440
#define NOTE_B4 494
#define NOTE_C5 523
#define NOTE_D5 587
#define NOTE_E5 659
#define NOTE_F5 698
#define NOTE_G5 784
#define NOTE_A5 880
#define NOTE_B5 988
/*
* Music that sounds on background
*/
// These arrays take up a total of 285 bytes of RAM (out of a 1k limit)
const unsigned int note[MELODY_LENGTH] =
{
NOTE_E4, NOTE_G4, NOTE_A4, NOTE_A4, 0,
NOTE_A4, NOTE_B4, NOTE_C5, NOTE_C5, 0,
NOTE_C5, NOTE_D5, NOTE_B4, NOTE_B4, 0,
NOTE_A4, NOTE_G4, NOTE_A4, 0,
NOTE_E4, NOTE_G4, NOTE_A4, NOTE_A4, 0,
NOTE_A4, NOTE_B4, NOTE_C5, NOTE_C5, 0,
NOTE_C5, NOTE_D5, NOTE_B4, NOTE_B4, 0,
NOTE_A4, NOTE_G4, NOTE_A4, 0,
NOTE_E4, NOTE_G4, NOTE_A4, NOTE_A4, 0,
NOTE_A4, NOTE_C5, NOTE_D5, NOTE_D5, 0,
NOTE_D5, NOTE_E5, NOTE_F5, NOTE_F5, 0,
NOTE_E5, NOTE_D5, NOTE_E5, NOTE_A4, 0,
NOTE_A4, NOTE_B4, NOTE_C5, NOTE_C5, 0,
NOTE_D5, NOTE_E5, NOTE_A4, 0,
NOTE_A4, NOTE_C5, NOTE_B4, NOTE_B4, 0,
NOTE_C5, NOTE_A4, NOTE_B4, 0,
NOTE_A4, NOTE_A4,
//Repeat of first part
NOTE_A4, NOTE_B4, NOTE_C5, NOTE_C5, 0,
NOTE_C5, NOTE_D5, NOTE_B4, NOTE_B4, 0,
NOTE_A4, NOTE_G4, NOTE_A4, 0,
NOTE_E4, NOTE_G4, NOTE_A4, NOTE_A4, 0,
NOTE_A4, NOTE_B4, NOTE_C5, NOTE_C5, 0,
NOTE_C5, NOTE_D5, NOTE_B4, NOTE_B4, 0,
NOTE_A4, NOTE_G4, NOTE_A4, 0,
NOTE_E4, NOTE_G4, NOTE_A4, NOTE_A4, 0,
NOTE_A4, NOTE_C5, NOTE_D5, NOTE_D5, 0,
NOTE_D5, NOTE_E5, NOTE_F5, NOTE_F5, 0,
NOTE_E5, NOTE_D5, NOTE_E5, NOTE_A4, 0,
NOTE_A4, NOTE_B4, NOTE_C5, NOTE_C5, 0,
NOTE_D5, NOTE_E5, NOTE_A4, 0,
NOTE_A4, NOTE_C5, NOTE_B4, NOTE_B4, 0,
NOTE_C5, NOTE_A4, NOTE_B4, 0,
//End of Repeat
NOTE_E5, 0, 0, NOTE_F5, 0, 0,
NOTE_E5, NOTE_E5, 0, NOTE_G5, 0, NOTE_E5, NOTE_D5, 0, 0,
NOTE_D5, 0, 0, NOTE_C5, 0, 0,
NOTE_B4, NOTE_C5, 0, NOTE_B4, 0, NOTE_A4,
NOTE_E5, 0, 0, NOTE_F5, 0, 0,
NOTE_E5, NOTE_E5, 0, NOTE_G5, 0, NOTE_E5, NOTE_D5, 0, 0,
NOTE_D5, 0, 0, NOTE_C5, 0, 0,
NOTE_B4, NOTE_C5, 0, NOTE_B4, 0, NOTE_A4
};
const unsigned int duration[MELODY_LENGTH] =
{
125, 125, 250, 125, 125,
125, 125, 250, 125, 125,
125, 125, 250, 125, 125,
125, 125, 375, 125,
125, 125, 250, 125, 125,
125, 125, 250, 125, 125,
125, 125, 250, 125, 125,
125, 125, 375, 125,
125, 125, 250, 125, 125,
125, 125, 250, 125, 125,
125, 125, 250, 125, 125,
125, 125, 125, 250, 125,
125, 125, 250, 125, 125,
250, 125, 250, 125,
125, 125, 250, 125, 125,
125, 125, 375, 375,
250, 125,
//Rpeat of First Part
125, 125, 250, 125, 125,
125, 125, 250, 125, 125,
125, 125, 375, 125,
125, 125, 250, 125, 125,
125, 125, 250, 125, 125,
125, 125, 250, 125, 125,
125, 125, 375, 125,
125, 125, 250, 125, 125,
125, 125, 250, 125, 125,
125, 125, 250, 125, 125,
125, 125, 125, 250, 125,
125, 125, 250, 125, 125,
250, 125, 250, 125,
125, 125, 250, 125, 125,
125, 125, 375, 375,
//End of Repeat
250, 125, 375, 250, 125, 375,
125, 125, 125, 125, 125, 125, 125, 125, 375,
250, 125, 375, 250, 125, 375,
125, 125, 125, 125, 125, 500,
250, 125, 375, 250, 125, 375,
125, 125, 125, 125, 125, 125, 125, 125, 375,
250, 125, 375, 250, 125, 375,
125, 125, 125, 125, 125, 500
};
/*
* Choreography that our bug dance
*/
#define choreography_size 6
int choreography[choreography_size][choreography_size] = {
{40, 40, 1000},
{20, 50, 500},
{-20, 20, 700},
{20, -20, 700},
{-20, -50, 500},
{-40, -40, 1000}
};
unsigned int current_choreography_step;
unsigned long last_time_into;
unsigned char currentIdx;
/**
* Function executed only one time to setup before any one
*/
void dance_mode_setup() {
// Nothing to do
}
/**
* Function executed when mode is stopped and relaunch.
* If on_mode_create is executed, then this will be executed
*/
void dance_mode_start() {
currentIdx = 0;
current_choreography_step = 5;
}
/**
* Function executed when mode is paused an resume ( When someone press the mode assigned key ).
* If on_mode_start is executed, then this will be executed
*/
void dance_mode_resume() {
set_motors(0, 0);
last_time_into = 0;
}
/**
* Function executed when mode is paused ( When someone press the mode assigned key )
*/
void dance_mode_pause() {
set_motors(0, 0);
if (is_playing()) stop_playing();
}
/**
* Function executed when mode is stopped ( When someone press a different mode assigned key ). Its always be executed after
* on_mode_pause.
*/
void dance_mode_stop() {}
/**
* Main loop of the mode
*/
void dance_mode_loop() {
// if we haven't finished playing the song and
// the buzzer is ready for the next note, play the next note
if (currentIdx < MELODY_LENGTH && !is_playing()) {
// play note at max volume
play_frequency(note[currentIdx], duration[currentIdx] * 2, 15);
currentIdx++;
}
//If the song is finished, restart the song.
else if (currentIdx == MELODY_LENGTH) {
currentIdx = 0;
}
if (get_ms() - last_time_into > choreography[current_choreography_step][2]) {
last_time_into = get_ms();
current_choreography_step = (current_choreography_step + 1) % choreography_size;
set_motors(choreography[current_choreography_step][0], choreography[current_choreography_step][1]);
}
}