#include "Ultrasonic.h"
Ultrasonic ultrasonic(25);
//defines notes
#define NOTE_PAUSE 3
#define NOTE_B0 31
#define NOTE_C1 33
#define NOTE_CS1 35
#define NOTE_D1 37
#define NOTE_DS1 39
#define NOTE_E1 41
#define NOTE_F1 44
#define NOTE_FS1 46
#define NOTE_G1 49
#define NOTE_GS1 52
#define NOTE_A1 55
#define NOTE_AS1 58
#define NOTE_B1 62
#define NOTE_C2 65
#define NOTE_CS2 69
#define NOTE_D2 73
#define NOTE_DS2 78
#define NOTE_E2 82
#define NOTE_F2 87
#define NOTE_FS2 93
#define NOTE_G2 98
#define NOTE_GS2 104
#define NOTE_A2 110
#define NOTE_AS2 117
#define NOTE_B2 123
#define NOTE_C3 131
#define NOTE_CS3 139
#define NOTE_D3 147
#define NOTE_DS3 156
#define NOTE_E3 165
#define NOTE_F3 175
#define NOTE_FS3 185
#define NOTE_G3 196
#define NOTE_GS3 208
#define NOTE_A3 220
#define NOTE_AS3 233
#define NOTE_B3 247
#define NOTE_C4_1 260
#define NOTE_C4 262
#define NOTE_CS4 277
#define NOTE_D4 294
#define NOTE_DS4 311
#define NOTE_E4 330
#define NOTE_F4 349
#define NOTE_FS4 370
#define NOTE_G4 392
#define NOTE_GS4 415
#define NOTE_A4 440
#define NOTE_AS4 466
#define NOTE_B4 494
#define NOTE_C5 523
#define NOTE_CS5 554
#define NOTE_D5 587
#define NOTE_DS5 622
#define NOTE_E5 659
#define NOTE_F5 698
#define NOTE_FS5 740
#define NOTE_G5 784
#define NOTE_GS5 831
#define NOTE_A5 880
#define NOTE_AS5 932
#define NOTE_B5 988
#define NOTE_C6 1047
#define NOTE_CS6 1109
#define NOTE_D6 1175
#define NOTE_DS6 1245
#define NOTE_E6 1319
#define NOTE_F6 1397
#define NOTE_FS6 1480
#define NOTE_G6 1568
#define NOTE_GS6 1661
#define NOTE_A6 1760
#define NOTE_AS6 1865
#define NOTE_B6 1976
#define NOTE_C7 2093
#define NOTE_CS7 2217
#define NOTE_D7 2349
#define NOTE_DS7 2489
#define NOTE_E7 2637
#define NOTE_F7 2794
#define NOTE_FS7 2960
#define NOTE_G7 3136
#define NOTE_GS7 3322
#define NOTE_A7 3520
#define NOTE_AS7 3729
#define NOTE_B7 3951
#define NOTE_C8 4186
#define NOTE_CS8 4435
#define NOTE_D8 4699
#define NOTE_DS8 4978
//tempo for song
float speed = 1.3;
// order of notes to be played
int melody[] = {
NOTE_D4, NOTE_D4, NOTE_D5, NOTE_A4, NOTE_GS4, NOTE_G4, NOTE_F4, NOTE_D4, NOTE_F4, NOTE_G4,
NOTE_C4, NOTE_C4, NOTE_D5, NOTE_A4, NOTE_GS4, NOTE_G4, NOTE_F4, NOTE_C4, NOTE_F4, NOTE_G4,
NOTE_B3, NOTE_B3, NOTE_D5, NOTE_A4, NOTE_GS4, NOTE_G4, NOTE_F4, NOTE_B3, NOTE_F4, NOTE_G4,
NOTE_AS3, NOTE_AS3, NOTE_D5, NOTE_A4, NOTE_GS4, NOTE_G4, NOTE_F4, NOTE_AS3, NOTE_F4, NOTE_G4,
NOTE_D4, NOTE_D4, NOTE_D5, NOTE_A4, NOTE_GS4, NOTE_G4, NOTE_F4, NOTE_D4, NOTE_F4, NOTE_G4,
NOTE_C4, NOTE_C4, NOTE_D5, NOTE_A4, NOTE_GS4, NOTE_G4, NOTE_F4, NOTE_C4, NOTE_F4, NOTE_G4,
NOTE_B3, NOTE_B3, NOTE_D5, NOTE_A4, NOTE_GS4, NOTE_G4, NOTE_F4, NOTE_B3, NOTE_F4, NOTE_G4,
NOTE_AS3, NOTE_AS3, NOTE_D5, NOTE_A4, NOTE_GS4, NOTE_G4, NOTE_F4, NOTE_AS3, NOTE_F4, NOTE_G4,
NOTE_F5, NOTE_F5, NOTE_F5, NOTE_F5, NOTE_F5, NOTE_D5, NOTE_D5, NOTE_F5, NOTE_F5, NOTE_F5, NOTE_G5, NOTE_GS5,
NOTE_G5, NOTE_F5, NOTE_D5, NOTE_F5, NOTE_G5,
NOTE_F5, NOTE_F5, NOTE_F5, NOTE_G5, NOTE_GS5, NOTE_A5, NOTE_C6, NOTE_A5,
NOTE_D6, NOTE_D6, NOTE_D6, NOTE_A5, NOTE_D6, NOTE_C6};
// note durations: 4 = quarter note, 8 = eighth note, etc.:
int noteDurations[] = {
8, 8, 4, 2, 4, 4, 4, 8, 8, 8, 8, 8, 4, 2, 4, 4, 4, 8, 8, 8, 8, 8, 4, 2, 4, 4, 4, 8, 8, 8,
8, 8, 4, 2, 4, 4, 4, 8, 8, 8, 8, 8, 4, 2, 4, 4, 4, 8, 8, 8, 8, 8, 4, 2, 4, 4, 4, 8, 8, 8,
8, 8, 4, 2, 4, 4, 4, 8, 8, 8, 8, 8, 4, 2, 4, 4, 4, 8, 8, 8,
8, 4, 4, 8, 2, 4, 2, 4, 4, 4, 8, 4, 8,
16, 8, 8, 4, 8,
4, 4, 8, 4, 8, 2, 8, 4,
4, 8, 8, 8, 4, 1};
void setup() {
// initialize the digital pin as an output.
pinMode(37, OUTPUT);
pinMode(38, OUTPUT);
pinMode(25, INPUT);
Serial.begin(9600);
}
// the loop routine runs over and over again forever:
void loop() {
int offset = 20; // Offset in cm
volatile long lastTime = 0, curTime = 0; //lastTime it buzzed, current time,
long beepTime = 100000000; //
int lastDist = 100000000; //last distance from wall detected
int count = 0; //counts up to escape
boolean escape = false; //go to song if true, otherwise dont
while(1)
{
long distance;
distance = ultrasonic.MeasureInCentimeters(); // two measurements should keep an interval
//for debugging
Serial.print(distance);//0~400cm
Serial.println("------");
//If it is not time to play the song and it is not the 0 that comes up every other time (only accepts 0 if the last measured was 0 instead of the varying actual_distance then 0)
if(escape == false && ((distance < 280 && distance > 0) || (distance == 0 && lastDist == 0)))
{
// Beeps with a varying time that is less than the current distance so if distance changes quickly it still stops beeping
if(curTime - lastTime >= distance / 2)
{
digitalWrite(38, HIGH); // turn the LED on (HIGH is the voltage level)
//sets the last time it beeped to current time as it just beeped
lastTime = curTime;
//Beeps for one forth the distance, we decided this was a good length so that someone moving very fast will still have a gap between beeps and it wont play constantly
beepTime = distance / 4;
// for small beep times makes sure it is not 0
if(beepTime <=4)
{
beepTime = 1;
}
//Makes it not super long if its over 100
else if(beepTime > 100)
{
beepTime = 100;
}
Serial.print("beep: ");
Serial.println(beepTime);
}
//Within a certain distance it contantly beeps
else if(curTime - lastTime >= beepTime && distance >= 20)
{
digitalWrite(38, LOW); // turn the LED off by making the voltage LOW
}
// Plays song if it is within crashing distance (arbitrarily chosen as 10) and is moving closer
if((distance < 10 && lastDist > distance) || distance < 4)
{
count ++;
}
else{
count = 0;
}
// chooses to play song as count increased enough times
if(count > 2)
{
escape = true;
count = 0;
}
curTime ++;
}
//turns off beeper
else if(escape == false)
{
digitalWrite(38, LOW);
Serial.println("Skipped");
}
//plays the song
else
{
int list_size;
list_size = sizeof(melody) / sizeof(melody[0]);
// goes through notes
for (int thisNote = 0; thisNote < list_size; thisNote++) {
// to calculate the note duration, take one second divided by the
// note type. quarter note = 1000 / 4, eighth note = 1000/8, etc.
int noteDuration = 1000/(noteDurations[thisNote]*speed);
tone(38, melody[thisNote], noteDuration);
int pauseBetweenNotes = noteDuration + 50/speed; // delay between pulse
delay(pauseBetweenNotes);
noTone(38); // stop the tone
// If we get far away from a wall (about 500 is where it can no longer detect things) it stops playing
if(ultrasonic.MeasureInCentimeters() > 500)
{
escape = false;
break;
}
}
}
//updates distance
lastDist = distance;
}
}
Comments