SPI library to the new format and moved Robot_Motor and Robot_Control libraries

2025-07-30 16:24:09 +03:00 · 2013-07-03 22:00:02 +02:00
parent 87d3b4f56b
commit 2371e2ce0d
98 changed files with 14 additions and 216 deletions
--- a/libraries/Robot_Control/examples/explore/R03_Disco_Bot/R03_Disco_Bot.ino
+++ b/libraries/Robot_Control/examples/explore/R03_Disco_Bot/R03_Disco_Bot.ino
@ -0,0 +1,179 @@
+/* Disco Bot
+
+ This sketch shows you how to use the melody playing 
+ feature of the robot, with some really cool 8-bit music. 
+ Music will play when the robot is turned on, and it 
+ will show you some dance moves.
+
+ Circuit:
+ * Arduino Robot
+ 
+ created 1 May 2013
+ by X. Yang
+ modified 12 May 2013
+ by D. Cuartielles
+ 
+ This example is in the public domain
+ */
+
+#include <ArduinoRobot.h> // include the robot library
+
+/* Dancing steps:
+  S: stop
+  L: turn left
+  R: turn right
+  F: go forward
+  B: go backwards
+
+  The number after each command determines how long 
+  each step lasts. Each number is 1/2 second long.
+
+  The "\0" indicates end of string
+*/
+char danceScript[] = "S4L1R1S2F1B1S1\0"; 
+
+int currentScript = 0; // what step are we at
+
+int currentSong = 0; // keep track of the current song
+static const int SONGS_COUNT = 3; // number of songs
+
+// an array to hold the songs
+char musics[][11] = {
+  "melody.sqm",
+  "menu.sqm",
+  "chase.sqm",
+};
+
+// variables for non-blocking delay
+long waitFrom;
+long waitTime = 0;
+
+void setup() {
+  // initialize the Robot, SD card, display, and speaker 
+  Robot.begin();
+  Robot.beginSpeaker();
+  Robot.beginSD();
+  Robot.beginTFT();
+ 
+  // draw "lg0.bmp" and "lg1.bmp" on the screen
+  Robot.displayLogos();
+  
+  // Print instructions to the screen
+  Robot.text("1. Use left and\n right key to switch\n song", 5, 5);
+  Robot.text("2. Put robot on the\n ground to dance", 5, 33);
+
+  // wait for a few soconds
+  delay(3000);
+  
+  setInterface(); // display the current song
+  play(0);  //play the first song in the array
+  
+  resetWait();  //Initialize non-blocking delay
+}
+
+void loop() {
+  // read the butttons on the robot
+  int key = Robot.keyboardRead();
+  
+  // Right/left buttons play next/previous song
+  switch(key) {
+    case BUTTON_UP:
+    case BUTTON_LEFT:
+      play(-1);  //play previous song
+      break;
+    case BUTTON_DOWN:
+    case BUTTON_RIGHT:
+      play(1);  //play next song
+      break;
+  }
+  
+  // dance!
+  runScript();
+}
+
+// Dancing function
+void runScript() { 
+ if(!waiting()) { // if the previous instructions have finished
+   // get the next 2 commands (direction and duration)
+    parseCommand(danceScript[currentScript], danceScript[currentScript+1]);
+    currentScript += 2;
+    if(danceScript[currentScript] == '\0') // at the end of the array
+      currentScript = 0; // start again at the beginning
+ }
+}
+
+// instead of delay, use this timer
+boolean waiting() {
+  if(millis()-waitFrom >= waitTime)
+    return false;
+  else
+    return true;
+}
+
+// how long to wait
+void wait(long t) {
+  resetWait();
+  waitTime = t;
+}
+
+// reset the timer
+void resetWait() {
+  waitFrom = millis();
+}
+
+// read the direction and dirstion of the steps
+void parseCommand(char dir, char duration) { 
+  //convert the scripts to action
+  switch(dir) { 
+    case 'L':
+      Robot.motorsWrite(-255, 255);
+      break;
+    case 'R':
+      Robot.motorsWrite(255, -255);
+      break;
+    case 'F':
+      Robot.motorsWrite(255, 255);
+      break;
+    case 'B':
+      Robot.motorsWrite(-255, -255);
+      break;
+    case 'S':
+      Robot.motorsStop();
+      break;
+  }
+  //You can change "500" to change the pace of dancing
+  wait(500*(duration-'0'));
+}
+
+// display the song
+void setInterface() {
+  Robot.clearScreen();
+  Robot.stroke(0, 0, 0);
+  Robot.text(musics[0], 0, 0);
+}
+
+// display the next song
+void select(int seq, boolean onOff) {
+  if(onOff){//select
+    Robot.stroke(0, 0, 0);
+    Robot.text(musics[seq], 0, 0);
+  }else{//deselect
+    Robot.stroke(255, 255, 255);
+    Robot.text(musics[seq], 0, 0);
+  }
+}
+
+// play the slected song
+void play(int seq) {
+  select(currentSong, false);
+  if(currentSong <= 0 && seq == -1) {  //previous of 1st song?
+    currentSong = SONGS_COUNT-1;  //go to last song
+  } else if(currentSong >= SONGS_COUNT-1 && seq == 1) {  //next of last?
+    currentSong = 0;  //go to 1st song
+  } else {
+    currentSong += seq;  //next song
+  }
+  Robot.stopPlayFile();
+  Robot.playFile(musics[currentSong]);
+  select(currentSong, true);  //display the current song
+}