Inception (loop within a loop?)

hatefuel · January 24, 2014, 6:23am

I have the following funny as he** code. The issue is that it plays the song and then takes the move command. Is one of the two following possible?

]Move while playing music/:m]
]Play music until a move command is issued. Start playing again when stop command is issued?/:m]

[code]
#include <Tone.h>

Tone tone1;

#define OCTAVE_OFFSET 0

int notes] = { 0,
NOTE_C4, NOTE_CS4, NOTE_D4, NOTE_DS4, NOTE_E4, NOTE_F4, NOTE_FS4, NOTE_G4, NOTE_GS4, NOTE_A4, NOTE_AS4, NOTE_B4,
NOTE_C5, NOTE_CS5, NOTE_D5, NOTE_DS5, NOTE_E5, NOTE_F5, NOTE_FS5, NOTE_G5, NOTE_GS5, NOTE_A5, NOTE_AS5, NOTE_B5,
NOTE_C6, NOTE_CS6, NOTE_D6, NOTE_DS6, NOTE_E6, NOTE_F6, NOTE_FS6, NOTE_G6, NOTE_GS6, NOTE_A6, NOTE_AS6, NOTE_B6,
NOTE_C7, NOTE_CS7, NOTE_D7, NOTE_DS7, NOTE_E7, NOTE_F7, NOTE_FS7, NOTE_G7, NOTE_GS7, NOTE_A7, NOTE_AS7, NOTE_B7
};

//char *song = “The Simpsons:d=4,o=5,b=160:c.6,e6,f#6,8a6,g.6,e6,c6,8a,8f#,8f#,8f#,2g,8p,8p,8f#,8f#,8f#,8g,a#.,8c6,8c6,8c6,c6”;
//char *song = “Indiana:d=4,o=5,b=250:e,8p,8f,8g,8p,1c6,8p.,d,8p,8e,1f,p.,g,8p,8a,8b,8p,1f6,p,a,8p,8b,2c6,2d6,2e6,e,8p,8f,8g,8p,1c6,p,d6,8p,8e6,1f.6,g,8p,8g,e.6,8p,d6,8p,8g,e.6,8p,d6,8p,8g,f.6,8p,e6,8p,8d6,2c6”;
//char *song = “TakeOnMe:d=4,o=4,b=160:8f#5,8f#5,8f#5,8d5,8p,8b,8p,8e5,8p,8e5,8p,8e5,8g#5,8g#5,8a5,8b5,8a5,8a5,8a5,8e5,8p,8d5,8p,8f#5,8p,8f#5,8p,8f#5,8e5,8e5,8f#5,8e5,8f#5,8f#5,8f#5,8d5,8p,8b,8p,8e5,8p,8e5,8p,8e5,8g#5,8g#5,8a5,8b5,8a5,8a5,8a5,8e5,8p,8d5,8p,8f#5,8p,8f#5,8p,8f#5,8e5,8e5”;
//char *song = “Entertainer:d=4,o=5,b=140:8d,8d#,8e,c6,8e,c6,8e,2c.6,8c6,8d6,8d#6,8e6,8c6,8d6,e6,8b,d6,2c6,p,8d,8d#,8e,c6,8e,c6,8e,2c.6,8p,8a,8g,8f#,8a,8c6,e6,8d6,8c6,8a,2d6”;
//char *song = “Muppets:d=4,o=5,b=250:c6,c6,a,b,8a,b,g,p,c6,c6,a,8b,8a,8p,g.,p,e,e,g,f,8e,f,8c6,8c,8d,e,8e,8e,8p,8e,g,2p,c6,c6,a,b,8a,b,g,p,c6,c6,a,8b,a,g.,p,e,e,g,f,8e,f,8c6,8c,8d,e,8e,d,8d,c”;
//char *song = “Xfiles:d=4,o=5,b=125:e,b,a,b,d6,2b.,1p,e,b,a,b,e6,2b.,1p,g6,f#6,e6,d6,e6,2b.,1p,g6,f#6,e6,d6,f#6,2b.,1p,e,b,a,b,d6,2b.,1p,e,b,a,b,e6,2b.,1p,e6,2b.”;
//char *song = “Looney:d=4,o=5,b=140:32p,c6,8f6,8e6,8d6,8c6,a.,8c6,8f6,8e6,8d6,8d#6,e.6,8e6,8e6,8c6,8d6,8c6,8e6,8c6,8d6,8a,8c6,8g,8a#,8a,8f”;
//char *song = “20thCenFox:d=16,o=5,b=140:b,8p,b,b,2b,p,c6,32p,b,32p,c6,32p,b,32p,c6,32p,b,8p,b,b,b,32p,b,32p,b,32p,b,32p,b,32p,b,32p,b,32p,g#,32p,a,32p,b,8p,b,b,2b,4p,8e,8g#,8b,1c#6,8f#,8a,8c#6,1e6,8a,8c#6,8e6,1e6,8b,8g#,8a,2b”;
//char *song = “Bond:d=4,o=5,b=80:32p,16c#6,32d#6,32d#6,16d#6,8d#6,16c#6,16c#6,16c#6,16c#6,32e6,32e6,16e6,8e6,16d#6,16d#6,16d#6,16c#6,32d#6,32d#6,16d#6,8d#6,16c#6,16c#6,16c#6,16c#6,32e6,32e6,16e6,8e6,16d#6,16d6,16c#6,16c#7,c.7,16g#6,16f#6,g#.6”;
//char *song = “MASH:d=8,o=5,b=140:4a,4g,f#,g,p,f#,p,g,p,f#,p,2e.,p,f#,e,4f#,e,f#,p,e,p,4d.,p,f#,4e,d,e,p,d,p,e,p,d,p,2c#.,p,d,c#,4d,c#,d,p,e,p,4f#,p,a,p,4b,a,b,p,a,p,b,p,2a.,4p,a,b,a,4b,a,b,p,2a.,a,4f#,a,b,p,d6,p,4e.6,d6,b,p,a,p,2b”;
//char *song = “StarWars:d=4,o=5,b=45:32p,32f#,32f#,32f#,8b.,8f#.6,32e6,32d#6,32c#6,8b.6,16f#.6,32e6,32d#6,32c#6,8b.6,16f#.6,32e6,32d#6,32e6,8c#.6,32f#,32f#,32f#,8b.,8f#.6,32e6,32d#6,32c#6,8b.6,16f#.6,32e6,32d#6,32c#6,8b.6,16f#.6,32e6,32d#6,32e6,8c#6”;
//char *song = “GoodBad:d=4,o=5,b=56:32p,32a#,32d#6,32a#,32d#6,8a#.,16f#.,16g#.,d#,32a#,32d#6,32a#,32d#6,8a#.,16f#.,16g#.,c#6,32a#,32d#6,32a#,32d#6,8a#.,16f#.,32f.,32d#.,c#,32a#,32d#6,32a#,32d#6,8a#.,16g#.,d#”;
//char *song = “TopGun:d=4,o=4,b=31:32p,16c#,16g#,16g#,32f#,32f,32f#,32f,16d#,16d#,32c#,32d#,16f,32d#,32f,16f#,32f,32c#,16f,d#,16c#,16g#,16g#,32f#,32f,32f#,32f,16d#,16d#,32c#,32d#,16f,32d#,32f,16f#,32f,32c#,g#”;
//char *song = “A-Team:d=8,o=5,b=125:4d#6,a#,2d#6,16p,g#,4a#,4d#.,p,16g,16a#,d#6,a#,f6,2d#6,16p,c#.6,16c6,16a#,g#.,2a#”;
//char *song = “Flinstones:d=4,o=5,b=40:32p,16f6,16a#,16a#6,32g6,16f6,16a#.,16f6,32d#6,32d6,32d6,32d#6,32f6,16a#,16c6,d6,16f6,16a#.,16a#6,32g6,16f6,16a#.,32f6,32f6,32d#6,32d6,32d6,32d#6,32f6,16a#,16c6,a#,16a6,16d.6,16a#6,32a6,32a6,32g6,32f#6,32a6,8g6,16g6,16c.6,32a6,32a6,32g6,32g6,32f6,32e6,32g6,8f6,16f6,16a#.,16a#6,32g6,16f6,16a#.,16f6,32d#6,32d6,32d6,32d#6,32f6,16a#,16c.6,32d6,32d#6,32f6,16a#,16c.6,32d6,32d#6,32f6,16a#6,16c7,8a#.6”;
//char *song = “Jeopardy:d=4,o=6,b=125:c,f,c,f5,c,f,2c,c,f,c,f,a.,8g,8f,8e,8d,8c#,c,f,c,f5,c,f,2c,f.,8d,c,a#5,a5,g5,f5,p,d#,g#,d#,g#5,d#,g#,2d#,d#,g#,d#,g#,c.7,8a#,8g#,8g,8f,8e,d#,g#,d#,g#5,d#,g#,2d#,g#.,8f,d#,c#,c,p,a#5,p,g#.5,d#,g#”;
//char *song = “Gadget:d=16,o=5,b=50:32d#,32f,32f#,32g#,a#,f#,a,f,g#,f#,32d#,32f,32f#,32g#,a#,d#6,4d6,32d#,32f,32f#,32g#,a#,f#,a,f,g#,f#,8d#”;
//char *song = “Smurfs:d=32,o=5,b=200:4c#6,16p,4f#6,p,16c#6,p,8d#6,p,8b,p,4g#,16p,4c#6,p,16a#,p,8f#,p,8a#,p,4g#,4p,g#,p,a#,p,b,p,c6,p,4c#6,16p,4f#6,p,16c#6,p,8d#6,p,8b,p,4g#,16p,4c#6,p,16a#,p,8b,p,8f,p,4f#”;
//char *song = “MahnaMahna:d=16,o=6,b=125:c#,c.,b5,8a#.5,8f.,4g#,a#,g.,4d#,8p,c#,c.,b5,8a#.5,8f.,g#.,8a#.,4g,8p,c#,c.,b5,8a#.5,8f.,4g#,f,g.,8d#.,f,g.,8d#.,f,8g,8d#.,f,8g,d#,8c,a#5,8d#.,8d#.,4d#,8d#.”;
//char *song = “LeisureSuit:d=16,o=6,b=56:f.5,f#.5,g.5,g#5,32a#5,f5,g#.5,a#.5,32f5,g#5,32a#5,g#5,8c#.,a#5,32c#,a5,a#.5,c#.,32a5,a#5,32c#,d#,8e,c#.,f.,f.,f.,f.,f,32e,d#,8d,a#.5,e,32f,e,32f,c#,d#.,c#”;
char *song = “MissionImp:d=16,o=6,b=95:32d,32d#,32d,32d#,32d,32d#,32d,32d#,32d,32d,32d#,32e,32f,32f#,32g,g,8p,g,8p,a#,p,c7,p,g,8p,g,8p,f,p,f#,p,g,8p,g,8p,a#,p,c7,p,g,8p,g,8p,f,p,f#,p,a#,g,2d,32p,a#,g,2c#,32p,a#,g,2c,a#5,8c,2p,32p,a#5,g5,2f#,32p,a#5,g5,2f,32p,a#5,g5,2e,d#,8d”;

int E1 = 6; //M1 Speed Control
int E2 = 5; //M2 Speed Control
int M1 = 8; //M1 Direction Control
int M2 = 7; //M2 Direction Control
void setup(void)
{
int i;
for(i=5;i<=8;i++)
pinMode(i, OUTPUT);
Serial.begin(9600);
tone1.begin(3);
}
#define isdigit(n) (n >= ‘0’ && n <= ‘9’)

void play_rtttl(char *p)
{
// Absolutely no error checking in here

byte default_dur = 4;
byte default_oct = 6;
int bpm = 63;
int num;
long wholenote;
long duration;
byte note;
byte scale;

// format: d=N,o=N,b=NNN:
// find the start (skip name, etc)

while(*p != ‘:’) p++; // ignore name
p++; // skip ‘:’

// get default duration
if(*p == ‘d’)
{
p++; p++; // skip “d=”
num = 0;
while(isdigit(*p))
{
num = (num * 10) + (*p++ - ‘0’);
}
if(num > 0) default_dur = num;
p++; // skip comma
}

Serial.print("ddur: "); Serial.println(default_dur, 10);

// get default octave
if(*p == ‘o’)
{
p++; p++; // skip “o=”
num = *p++ - ‘0’;
if(num >= 3 && num <=7) default_oct = num;
p++; // skip comma
}

Serial.print("doct: "); Serial.println(default_oct, 10);

// get BPM
if(*p == ‘b’)
{
p++; p++; // skip “b=”
num = 0;
while(isdigit(*p))
{
num = (num * 10) + (*p++ - ‘0’);
}
bpm = num;
p++; // skip colon
}

Serial.print("bpm: "); Serial.println(bpm, 10);

// BPM usually expresses the number of quarter notes per minute
wholenote = (60 * 1000L / bpm) * 4; // this is the time for whole note (in milliseconds)

Serial.print("wn: "); Serial.println(wholenote, 10);

// now begin note loop
while(*p)
{
// first, get note duration, if available
num = 0;
while(isdigit(*p))
{
num = (num * 10) + (*p++ - ‘0’);
}

if(num) duration = wholenote / num;
else duration = wholenote / default_dur;  // we will need to check if we are a dotted note after

// now get the note
note = 0;

switch(*p)
{
  case 'c':
    note = 1;
    break;
  case 'd':
    note = 3;
    break;
  case 'e':
    note = 5;
    break;
  case 'f':
    note = 6;
    break;
  case 'g':
    note = 8;
    break;
  case 'a':
    note = 10;
    break;
  case 'b':
    note = 12;
    break;
  case 'p':
  default:
    note = 0;
}
p++;

// now, get optional '#' sharp
if(*p == '#')
{
  note++;
  p++;
}

// now, get optional '.' dotted note
if(*p == '.')
{
  duration += duration/2;
  p++;
}

// now, get scale
if(isdigit(*p))
{
  scale = *p - '0';
  p++;
}
else
{
  scale = default_oct;
}

scale += OCTAVE_OFFSET;

if(*p == ',')
  p++;       // skip comma for next note (or we may be at the end)

// now play the note

if(note)
{
  Serial.print("Playing: ");
  Serial.print(scale, 10); Serial.print(' ');
  Serial.print(note, 10); Serial.print(" (");
  Serial.print(notes(scale - 4) * 12 + note], 10);
  Serial.print(") ");
  Serial.println(duration, 10);
  tone1.play(notes(scale - 4) * 12 + note]);
  delay(duration);
  tone1.stop();
}
else
{
  Serial.print("Pausing: ");
  Serial.println(duration, 10);
  delay(duration);
}

}
}
void loop(void)
{

play_rtttl(song); //Runs through this before it will move

while (Serial.available() < 1) {} // Wait until a character is received
char val = Serial.read();
int leftspeed = 255; //255 is maximum speed
int rightspeed = 255;
switch(val) // Perform an action depending on the command
{
case ‘w’://Move Forward
forward (leftspeed,rightspeed);
break;
case ‘s’://Move Backwards
reverse (leftspeed,rightspeed);
break;
case ‘a’://Turn Left
left (leftspeed,rightspeed);
break;
case ‘d’://Turn Right
right (leftspeed,rightspeed);
break;
default:
stop();
break;
}
}
void stop(void) //Stop
{
digitalWrite(E1,LOW);
digitalWrite(E2,LOW);
}
void forward(char a,char b)
{
analogWrite (E1,a);
digitalWrite(M1,LOW);
analogWrite (E2,b);
digitalWrite(M2,LOW);
}
void reverse (char a,char b)
{
analogWrite (E1,a);
digitalWrite(M1,HIGH);
analogWrite (E2,b);
digitalWrite(M2,HIGH);
}
void left (char a,char b)
{
analogWrite (E1,a);
digitalWrite(M1,HIGH);
analogWrite (E2,b);
digitalWrite(M2,LOW);
}
void right (char a,char b)
{
analogWrite (E1,a);
digitalWrite(M1,LOW);
analogWrite (E2,b);
digitalWrite(M2,HIGH);
}[/code]

jarcand · January 24, 2014, 10:11pm

With this approach, you wouldn’t actually be spending time waiting for serial: the potential lag issue would be caused by the fractions of seconds spend processing the received serial character.

But if it is a problem, the alternative would be to process the serial character while you’re playing the note, instead of between notes. This generally means calling moveRobot() before the two delay(duration) lines, however you might need to modify the way you do the delay to take into account the time spent processing the serial, since the reason you’re moving the moveRobot() to this location is because the function takes a non-trivial amount of time, so you’ll need to compensate for it.

Let us know how it works!

jarcand · January 24, 2014, 5:08pm

After looking at your code, I would say that it should be possible to move while playing music. I would recommend trying the following:

Move your movement code into a new function:

void moveRobot(void)
{
if (Serial.available() < 1) {
return;
}
char val = Serial.read();
int leftspeed = 255; //255 is maximum speed
int rightspeed = 255;
switch(val) // Perform an action depending on the command
{
case 'w'://Move Forward
forward (leftspeed,rightspeed);
break;
case 's'://Move Backwards
reverse (leftspeed,rightspeed);
break;
case 'a'://Turn Left
left (leftspeed,rightspeed);
break;
case 'd'://Turn Right
right (leftspeed,rightspeed);
break;
default:
stop();
break;
}
}

Change the loop function to simply:

void loop(void)
{
play_rtttl(song); //Runs through this before it will move
}

Add a call to the moveRobot() function as the last line inside your while(*p) loop.

void play_rtttl(char *p)
{
  ...

  // now begin note loop
  while(*p)
  {
    ...
    
    if(note)
    {
      ...
    }
    else
    {
      ...
    }
    moveRobot();
  }
}

Once you do this, your robot should be able to move while playing music. A few notes:

Since the program is only checking for a serial command after playing a note, a command that is sent while a long note is playing will only be processed at the end of the long note. I don’t expect this to be a big problem in your situation.
There could be small lags between notes when a serial command is received. All the movement commands are generally very simple and do not include any delays(), so I don’t expect this to be a big problem, but sometimes tiny delays are a lot more noticeable when music or video is playing…

I’d try the approach I described above first, and if there are problems you could post your new code and we can consider other recommendations.

hatefuel · January 24, 2014, 9:30pm

Most excellent. I will try this once I get home and post back my results.

What would the alternative be to waiting for serial?

*Inception* (loop within a loop?)

Inception (loop within a loop?)