CSCI 131 Techniques of Programming--Spring 2014

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Solution to Lab 4 square.c

/*******************************************************************************
 * Authors: A. Student, B. Student and C. Student
 * square.c
 * Purpose: A simple iRobot program to walk in a square.
 * It also plays a short song at the start, at each corner, and at the end.
 * Re-written by kwalsh@cs.holycross.edu, based on original simple.c.
 *******************************************************************************/
#include "iRobot.h"

// Notes for start song
// Songs are optional
uint8_t start_notes[] = {60, 62, 64, 65, 67, 69, 71}; // ascending scale
uint8_t start_times[] = { 8,  8,  8,  8,  8,  8, 16}; // eighth, ..., eighth, quarter
uint8_t start_count = 7; // seven notes

// Notes for bump/corner song
uint8_t corner_notes[] = {71, 67}; // B, G
uint8_t corner_times[] = {24,  8}; // three-eighth, one-eighth
uint8_t corner_count = 2; // two notes

// Notes for end song
uint8_t end_notes[] = {71, 69, 67, 65, 64, 62, 60}; // descending scale
uint8_t end_times[] = { 8,  8,  8,  8,  8,  8, 16};
uint8_t end_count = 7; // seven notes

int main(void)
{
    // define some songs
    // Songs are optional
    defineSong(0, start_count, start_notes, start_times);
    defineSong(1, corner_count, corner_notes, corner_times);
    defineSong(2, end_count, end_notes, end_times);

    // start the body if needed
    start();
	waitForButton(); //Optional
	
    // play the start song
    playSong(0);	//Optional

    // drive then turn, repeat 4 times
	for (int count = 0; count < 4; count++) {
		straight(1*Meter);
		playSong(1);	//Optional
		turn(90);
	}

	playSong(2); //Optional
}

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CSCI 131: Techniques of Programming
Last Modified: February 23, 2014
Page Expires: October 12, 2014