//notes I found the sounds on https://mycontraption.com/sound-effects-with-and-arduino/
const float note_C0 = 16.35; //C0
const float note_Db0 = 17.32; //C#0/Db0
const float note_D0 = 18.35; //D0
const float note_Eb0 = 19.45; //D#0/Eb0
const float note_E0 = 20.6; //E0
const float note_F0 = 21.83; //F0
const float note_Gb0 = 23.12; //F#0/Gb0
const float note_G0 = 24.5; //G0
const float note_Ab0 = 25.96; //G#0/Ab0
const float note_A0 = 27.5; //A0
const float note_Bb0 = 29.14; //A#0/Bb0
const float note_B0 = 30.87; //B0
const float note_C1 = 32.7; //C1
const float note_Db1 = 34.65; //C#1/Db1
const float note_D1 = 36.71; //D1
const float note_Eb1 = 38.89; //D#1/Eb1
const float note_E1 = 41.2; //E1
const float note_F1 = 43.65; //F1
const float note_Gb1 = 46.25; //F#1/Gb1
const float note_G1 = 49; //G1
const float note_Ab1 = 51.91; //G#1/Ab1
const float note_A1 = 55; //A1
const float note_Bb1 = 58.27; //A#1/Bb1
const float note_B1 = 61.74; //B1
const float note_C2 = 65.41; //C2 (Middle C)
const float note_Db2 = 69.3; //C#2/Db2
const float note_D2 = 73.42; //D2
const float note_Eb2 = 77.78; //D#2/Eb2
const float note_E2 = 82.41; //E2
const float note_F2 = 87.31; //F2
const float note_Gb2 = 92.5; //F#2/Gb2
const float note_G2 = 98; //G2
const float note_Ab2 = 103.83; //G#2/Ab2
const float note_A2 = 110; //A2
const float note_Bb2 = 116.54; //A#2/Bb2
const float note_B2 = 123.47; //B2
const float note_C3 = 130.81; //C3
const float note_Db3 = 138.59; //C#3/Db3
const float note_D3 = 146.83; //D3
const float note_Eb3 = 155.56; //D#3/Eb3
const float note_E3 = 164.81; //E3
const float note_F3 = 174.61; //F3
const float note_Gb3 = 185; //F#3/Gb3
const float note_G3 = 196; //G3
const float note_Ab3 = 207.65; //G#3/Ab3
const float note_A3 = 220; //A3
const float note_Bb3 = 233.08; //A#3/Bb3
const float note_B3 = 246.94; //B3
const float note_C4 = 261.63; //C4
const float note_Db4 = 277.18; //C#4/Db4
const float note_D4 = 293.66; //D4
const float note_Eb4 = 311.13; //D#4/Eb4
const float note_E4 = 329.63; //E4
const float note_F4 = 349.23; //F4
const float note_Gb4 = 369.99; //F#4/Gb4
const float note_G4 = 392; //G4
const float note_Ab4 = 415.3; //G#4/Ab4
const float note_A4 = 440; //A4
const float note_Bb4 = 466.16; //A#4/Bb4
const float note_B4 = 493.88; //B4
const float note_C5 = 523.25; //C5
const float note_Db5 = 554.37; //C#5/Db5
const float note_D5 = 587.33; //D5
const float note_Eb5 = 622.25; //D#5/Eb5
const float note_E5 = 659.26; //E5
const float note_F5 = 698.46; //F5
const float note_Gb5 = 739.99; //F#5/Gb5
const float note_G5 = 783.99; //G5
const float note_Ab5 = 830.61; //G#5/Ab5
const float note_A5 = 880; //A5
const float note_Bb5 = 932.33; //A#5/Bb5
const float note_B5 = 987.77; //B5
const float note_C6 = 1046.5; //C6
const float note_Db6 = 1108.73; //C#6/Db6
const float note_D6 = 1174.66; //D6
const float note_Eb6 = 1244.51; //D#6/Eb6
const float note_E6 = 1318.51; //E6
const float note_F6 = 1396.91; //F6
const float note_Gb6 = 1479.98; //F#6/Gb6
const float note_G6 = 1567.98; //G6
const float note_Ab6 = 1661.22; //G#6/Ab6
const float note_A6 = 1760; //A6
const float note_Bb6 = 1864.66; //A#6/Bb6
const float note_B6 = 1975.53; //B6
const float note_C7 = 2093; //C7
const float note_Db7 = 2217.46; //C#7/Db7
const float note_D7 = 2349.32; //D7
const float note_Eb7 = 2489.02; //D#7/Eb7
const float note_E7 = 2637.02; //E7
const float note_F7 = 2793.83; //F7
const float note_Gb7 = 2959.96; //F#7/Gb7
const float note_G7 = 3135.96; //G7
const float note_Ab7 = 3322.44; //G#7/Ab7
const float note_A7 = 3520; //A7
const float note_Bb7 = 3729.31; //A#7/Bb7
const float note_B7 = 3951.07; //B7
const float note_C8 = 4186.01; //C8
const float note_Db8 = 4434.92; //C#8/Db8
const float note_D8 = 4698.64; //D8
const float note_Eb8 = 4978.03; //D#8/Eb8
int cont=0;
//ultrasonic sensors
const int trigPin = 2;
const int echoPin = 4;
int forward;
long duration;
long cm=100;
int speakerPin = 3; // speaker connected to digital pin 9
const int motor1Pin = 7; // H-bridge leg 1 (pin 2 of H bridge)
const int motor2Pin = 8; // H-bridge leg 2 (pin 7of H bridge)
const int enablePin = 5; // H-bridge enable pin 1
const int enablePin2 = 6; // H-bridge enable pin 9
const int motor21Pin = 9; // H-bridge leg 1 (pin 15 of H bridge
const int motor22Pin = 10; // H-bridge leg 2 (pin 10 of bridge)
int led=12;//red terminal of rgb led
int led2=13;//blue terminal of rgb led
int incomingByte; // a variable to read incoming serial data into
#include <Servo.h> //
Servo myservo; //
int pos = 1500;
void setup() {
Serial.begin(9600); // open serial port to receive data
myservo.attach(11);
pinMode(speakerPin, OUTPUT); // sets the speakerPin to be an output
// set all the other pins you're using as outputs:
pinMode(motor1Pin, OUTPUT);
pinMode(motor2Pin, OUTPUT);
pinMode(enablePin, OUTPUT);
pinMode(motor21Pin, OUTPUT);
pinMode(motor22Pin, OUTPUT);
pinMode(enablePin2, OUTPUT);
pinMode(led, OUTPUT);
pinMode(led2, OUTPUT);
// set enablePin high so that motor can turn on:
digitalWrite(enablePin, LOW);
digitalWrite(enablePin2, LOW);
r2D2(); //starting sound
delay(500);
}
void loop() {
if (Serial.available() > 0) {
// read the oldest byte in the serial buffer:
incomingByte = Serial.read();
//up
if (incomingByte == '1') {
forward++;
if(forward%40==0){
pinMode(trigPin, OUTPUT);
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
// Read the signal from the sensor: a HIGH pulse whose
// duration is the time (in microseconds) from the sending
// of the ping to the reception of its echo off of an object.
pinMode(echoPin, INPUT);
duration = pulseIn(echoPin, HIGH);
// convert the time into a distance
cm = microsecondsToCentimeters(duration);}
if(cm>15){
digitalWrite(led, LOW);//change color of led
digitalWrite(led2, HIGH);
analogWrite(enablePin, 200); // turn on the motor 1
digitalWrite(motor1Pin, LOW); // set leg 1 of the H-bridge low
digitalWrite(motor2Pin, HIGH); // set leg 2 of the H-bridge high
analogWrite(enablePin2, 200); // turn on second motor
digitalWrite(motor21Pin, LOW); // set leg 1 of the H-bridge low
digitalWrite(motor22Pin, HIGH); // set leg 2 of the H-bridge high
delay(10);
digitalWrite(enablePin, LOW); // turn off motor 1
digitalWrite(enablePin2, LOW); // turn off motor 2
}else
{ pinMode(trigPin, OUTPUT);
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
// Read the signal from the sensor: a HIGH pulse whose
// duration is the time (in microseconds) from the sending
// of the ping to the reception of its echo off of an object.
pinMode(echoPin, INPUT);
duration = pulseIn(echoPin, HIGH);
// convert the time into a distance
cm = microsecondsToCentimeters(duration);
}
cont=0;
}//down
else if (incomingByte == '2') {
digitalWrite(led, LOW); //change color of led
digitalWrite(led2, HIGH);
analogWrite(enablePin, 200); // turn on the motor 1
digitalWrite(motor1Pin, HIGH); // set leg 1 of the H-bridge high
digitalWrite(motor2Pin, LOW); // set leg 2 of the H-bridge low
analogWrite(enablePin2, 200); // turn on second motor
digitalWrite(motor21Pin, HIGH); // set leg 1 of the H-bridge high
digitalWrite(motor22Pin, LOW); // set leg 2 of the H-bridge low
delay(10);
digitalWrite(enablePin, LOW); // turn off motor 1
digitalWrite(enablePin2, LOW); // turn off motor 2
cont=0;
} //left
else if (incomingByte == '3') {
digitalWrite(led2, LOW);
digitalWrite(led, HIGH);
digitalWrite(enablePin2, HIGH); // turn on second motor
digitalWrite(motor21Pin, LOW); // set leg 1 of the H-bridge low
digitalWrite(motor22Pin, HIGH); // set leg 2 of the H-bridge high
delay(10);
digitalWrite(enablePin2, LOW); // turn off motor 2
cont=0;
}
//right
else if (incomingByte == '4') {
digitalWrite(led2, LOW);
digitalWrite(led, HIGH);
digitalWrite(enablePin, HIGH); // turn on motor 1
digitalWrite(motor1Pin, LOW); // set leg 1 of the H-bridge low
digitalWrite(motor2Pin, HIGH); // set leg 2 of the H-bridge high
delay(10);
digitalWrite(enablePin, LOW); // turn off motor 1
cont=0;
}
//triangle
else if ((incomingByte == '9')&&(cont==0)) {
cont++;
ohhh();
delay(500);
}
//x
else if ((incomingByte == '7')&&(cont==0)) {
cont++;
catcall();
delay(500);
}
else if (incomingByte == '8') {
pos=pos+35;
if(pos<2000){myservo.writeMicroseconds(pos);}
else{pos=2000;}
delay(10);
cont=0;
}
else if (incomingByte == 'A') {
cont=0;
pos=pos-35;
if(pos>1000){myservo.writeMicroseconds(pos);}
else{pos=1000;}
delay(10);
}
}
}
// functions made by https://mycontraption.com/sound-effects-with-and-arduino/
void beep (int speakerPin, float noteFrequency, long noteDuration)
{
int x;
// Convert the frequency to microseconds
float microsecondsPerWave = 1000000/noteFrequency;
// Calculate how many HIGH/LOW cycles there are per millisecond
float millisecondsPerCycle = 1000/(microsecondsPerWave * 2);
// Multiply noteDuration * number or cycles per millisecond
float loopTime = noteDuration * millisecondsPerCycle;
// Play the note for the calculated loopTime.
for (x=0;x<loopTime;x++)
{
digitalWrite(speakerPin,HIGH);
delayMicroseconds(microsecondsPerWave);
digitalWrite(speakerPin,LOW);
delayMicroseconds(microsecondsPerWave);
}
}
void r2D2(){
beep(speakerPin, note_A7,100); //A
beep(speakerPin, note_G7,100); //G
beep(speakerPin, note_E7,100); //E
beep(speakerPin, note_C7,100); //C
beep(speakerPin, note_D7,100); //D
beep(speakerPin, note_B7,100); //B
beep(speakerPin, note_F7,100); //F
beep(speakerPin, note_C8,100); //C
beep(speakerPin, note_A7,100); //A
beep(speakerPin, note_G7,100); //G
beep(speakerPin, note_E7,100); //E
beep(speakerPin, note_C7,100); //C
beep(speakerPin, note_D7,100); //D
beep(speakerPin, note_B7,100); //B
beep(speakerPin, note_F7,100); //F
beep(speakerPin, note_C8,100); //C
}
void catcall() {
for (int i=1000; i<5000; i=i*1.05) {
beep(speakerPin,i,10);
}
delay(300);
for (int i=1000; i<3000; i=i*1.03) {
beep(speakerPin,i,10);
}
for (int i=3000; i>1000; i=i*.97) {
beep(speakerPin,i,10);
}
}
void ohhh() {
for (int i=1000; i<2000; i=i*1.02) {
beep(speakerPin,i,10);
}
for (int i=2000; i>1000; i=i*.98) {
beep(speakerPin,i,10);
}
}
void uhoh() {
for (int i=1000; i<1244; i=i*1.01) {
beep(speakerPin,i,30);
}
delay(200);
for (int i=1244; i>1108; i=i*.99) {
beep(speakerPin,i,30);
}
}
long microsecondsToCentimeters(long microseconds)
{
// The speed of sound is 340 m/s or 29 microseconds per centimeter.
// The ping travels out and back, so to find the distance of the
// object we take half of the distance travelled.
return microseconds / 29 / 2;
}
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