Diff: main.cpp

Revision:

0:127ba41bb428

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Apr 02 16:46:28 2012 +0000
@@ -0,0 +1,212 @@
+// roomba-song
+// by Mark Williams
+// 4/2/2012
+//
+// Simple code for iRobot Roomba 560
+// makes the robot dance around and play "for whom the bell tolls"
+
+#include "mbed.h"
+
+InterruptIn button(p11);
+Serial device(p9, p10);  // tx, rx
+
+
+void roombastop() {
+    // Stop
+    device.putc(137);   // Drive
+    device.putc(0x00);
+    device.putc(0x00);
+    device.putc(0x00);
+    device.putc(0x00);
+}
+
+void roombacw() {
+    // Turn in place clockwise
+    device.putc(137);   // Drive
+    device.putc(0x00);  // Velocity: 0x00c8 = 200
+    device.putc(0xc8);
+    device.putc(0xff);  // Radius: 0x0001 = Turn in place clockwise
+    device.putc(0xff);
+
+}
+
+void roombaccw() {
+    // Turn in place counter-clockwise
+    device.putc(137);   // Drive
+    device.putc(0x00);  // Velocity: 0x00c8 = 200
+    device.putc(0xc8);
+    device.putc(0x00);  // Radius: 0x0001 = Turn in place counter-clockwise
+    device.putc(0x01);
+}
+
+
+void roombaforward() {
+    // Forward
+    device.putc(137);   // Drive
+    device.putc(0x00);  // Velocity: 0x00c8 = 200
+    device.putc(0xc8);
+    device.putc(0x80);  // Radius: 0x8000 = Straight
+    device.putc(0x00);
+}
+
+void roombabackward() {
+    // Backward
+    device.putc(137);   // Drive
+    device.putc(0xff);  // Velocity: 0xff38 = -200
+    device.putc(0x38);
+    device.putc(0x80);  // Radius: 0x8000 = Straight
+    device.putc(0x00);
+}
+
+
+void dance() {
+
+}
+
+int main() {
+    device.baud(115200);    // the default baud rate of Roomba 530
+    //device.baud(19200);
+
+    // Start
+    device.putc(128);   // Start -> Passive Mode
+    wait(.05);
+    device.putc(130);   // Safe Mode
+    wait(.05);
+    
+    wait(1);
+
+    // for whom the bell tolls bass riff
+    // D  C#  C  B  DB  G  F#  D  D  C#
+    // load a song
+    device.putc(140);   // Song
+    device.putc(1);   // Song number
+    device.putc(11);  // Song length (0x0A = 11)
+    
+    device.putc(50);  // Note 
+    device.putc(16);  // Note length
+    
+    device.putc(49);  // Note 
+    device.putc(16);  // Note length
+    
+    device.putc(48);  // Note 
+    device.putc(16);  // Note length
+    
+    device.putc(47);  // Note 
+    device.putc(32);  // Note length
+    
+    device.putc(50);  // Note 
+    device.putc(8);  // Note length
+    
+    device.putc(47);  // Note 
+    device.putc(8);  // Note length
+    
+    device.putc(43);  // Note 
+    device.putc(16);  // Note length
+    
+    device.putc(42);  // Note 
+    device.putc(16);  // Note length
+    
+    device.putc(50);  // Note 
+    device.putc(16);  // Note length
+    
+    device.putc(38);  // Note 
+    device.putc(16);  // Note length
+    
+    device.putc(37);  // Note 
+    device.putc(32);  // Note length
+    
+    
+    // load a song
+    device.putc(140);   // Song
+    device.putc(2);   // Song number
+    device.putc(11);  // Song length (0x0A = 11)
+    
+    device.putc(62);  // Note 
+    device.putc(16);  // Note length
+    
+    device.putc(61);  // Note 
+    device.putc(16);  // Note length
+    
+    device.putc(60);  // Note 
+    device.putc(16);  // Note length
+    
+    device.putc(59);  // Note 
+    device.putc(32);  // Note length
+    
+    device.putc(62);  // Note 
+    device.putc(8);  // Note length
+    
+    device.putc(59);  // Note 
+    device.putc(8);  // Note length
+    
+    device.putc(55);  // Note 
+    device.putc(16);  // Note length
+    
+    device.putc(54);  // Note 
+    device.putc(16);  // Note length
+    
+    device.putc(62);  // Note 
+    device.putc(16);  // Note length
+    
+    device.putc(50);  // Note 
+    device.putc(16);  // Note length
+    
+    device.putc(49);  // Note 
+    device.putc(32);  // Note length
+    
+    roombacw();
+    wait(.5);
+    roombaccw();
+    wait(.5);
+   // roombastop();
+    //roombaforward();
+   // wait(0.5);
+    //roombastop();
+    roombastop();
+    
+    // play a song
+    device.putc(141);  // Play
+    device.putc(2);    // song #2
+    
+    wait(3);
+    roombacw();
+    wait(.5);
+    roombaccw();
+    wait(.5);
+    roombastop();
+    
+    
+    // play a song
+    device.putc(141);  // Play
+    device.putc(2);    // song #2
+    
+    wait(3);
+    roombacw();
+    wait(.5);
+    roombaccw();
+    wait(.5);
+    roombastop();
+    
+    // play a song
+    device.putc(141);  // Play
+    device.putc(2);    // song #2
+    
+    roombaccw();
+    wait(3);
+    roombacw();
+    wait(.5);
+    
+    // play a song
+    device.putc(141);  // Play
+    device.putc(2);    // song #2
+    
+    roombaccw();
+    wait(0);
+    roombastop();  
+    
+    
+    wait(6);
+
+    // Passive Mode
+    device.putc(128);   // Start -> Passive Mode
+}
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