/* mani.c */


  char pp_song[]= "1#d 4e3r1#f4g3r1#d 3e1#f3g1c3bD1e3g1b 8&b2b2a2g2e2d10e 7r1#d 4e3r1#f4g3r1#d 3e1#f3g1c3b1g3b1e 28&e D3r1#d 4e3r1#f4g3r1#d 3e1#f3g1c3bD1e3g1b 8&b2b2a2g2e2d10e 12r U3e1d3b1a3g1#f 1&b3a1&b3a1&b3a1&b3a 2g2e2d20e";


  char w_song[]="1c2f1f2f1g2a1a2a1f2g1g2g1e4f1r 1f2a1a2a1&b2c1c2c1c2d1c2&b1a4g1r 1gU2d1d2d1c2d1e2f1d2c1d2c1&b4a1r D1c2f1f2f1g2a1a2a1f2g1g2f1e5f";


  char classics_song[]="4g2c2d4c4g4a2g2f2e2c2d2e2f2g2a2b10c2r 4c4b4c2d2b2c2d2e2#f4g2#f2e4d2g2#f4g4d4e2d2c2b2g2a2b2c2b2c2d2e2d2e2#f12g";


  char charge_song[]="1c1e1g2c1r1g4c";


  char looney_tune_song[]= "U3e1d2c2d2e2d2e2c2d2d2d6d2r 3d1c2b2c2d2#c2d2b2c2c2c6c";


/* randy.  "pink panther" */


void pp() {

    play(pp_song);

}


/* added to by karsten ulland 10/92 */


void wate() {

  play(w_song);

}


void classics() {

  play(classics_song);

}



/* more from karsten 1/93 */


void charge() {

  play(charge_song);

}


/* randy 4/94 */


void looney_tune() {

    tempo=8;

    play(looney_tune_song);

    tempo=12;

}


/**********************************************************************/

/* music player     Randy Sargent */


/* # of milliseconds per 16th note, divided by 8 */

int tempo= 12;

long time, newtime;


/*  command letter to motor control  */

int music_current_command= 'o';


/*

Example using play:


    Songs should be GLOBALS so they can be longer - MD 7/93


    char song[]= "1#d 4e3r1#f4g3r1#d 3e1#f3g1c3bD1e3g1b 8&b2b2a2g2e2d10e 7r1#d 4e3r1#f4g3r1#d 3e1#f3g1c3b1g3b1e 28&e D3r1#d 4e3r1#f4g3r1#d 3e1#f3g1c3bD1e3g1b 8&b2b2a2g2e2d10e 12r U3e1d3b1a3g1#f 1&b3a1&b3a1&b3a1&b3a 2g2e2d2e18e 8r 2g2e2d2e18e 8r 2g2e2d2e18

void pp() {

    play(song);

}


Also see tequila.c for an example of music interspersed with commands

Also see tunes.c for other fun tunes.


*/


int music_next_command= 0;


void play(char song[])

{

    int i, duration, accidental, delta, note, rest;

    int notes[]= {0,2,3,5,7,8,10};

    int old_note= 30;

    play_reset();


    i= 0;

    while (song[i]) {


        while (1) {

            while (song[i] == ' ') ++i;

            if (song[i] == 'X') {++i; music_next_command= song[i]; ++i;}

            else break;

        }


        if (!song[i]) break;


        while (song[i] == 'D') {

            old_note -= 12;

            ++i;

        }

        while (song[i] == 'U') {

            old_note += 12;

            ++i;

        }

        if ('0' <= song[i] && song[i] <= '9') {

            duration= 0;

            while ('0' <= song[i] && song[i] <= '9') {

                duration = duration * 10 + song[i]-'0';

                ++i;

            }

        }

        if (song[i] == '#') {

            accidental= 1;

            ++i;

        } else if (song[i] == '&') {

            accidental= -1;

            ++i;

        } else {

            accidental= 0;

        }

/*      printf("dur %d a %d i %d\n", duration, accidental, i);*/

/*      wait();*/

        if (song[i] == 'r') rest= 1;

        else {

            if (song[i] < 'a' || song[i] > 'g') {

                printf("\nBad note:%c\n", song[i]);

                beep();

                beep();

                beep();

                sleep(5.0);

                return;

            }

            note= notes[song[i]-'a'] + accidental;

            rest= 0;

        }

        i++;


        if (rest) {

            play_note(0, duration);

        } else {

            delta= note - (old_note % 12);

            old_note += delta;

            if (delta > 5) old_note -= 12;

            if (delta < -5) old_note += 12;


            play_note(old_note, duration);

        }

    }

    play_note(0, 1);

    music_command('o');

}


void music_command(int c)

{

    music_current_command= c;

}



void play_reset()

{

    time= mseconds();

    newtime= time+100L;

}


void play_note(int note, int duration)

{

   play_note_2(note, duration*7);

   play_note_2(0, duration);

}


void play_note_2(int note, int duration)

{

    float freq;

    int   period;


    if (note) {

        freq= 55.0 * (2. ^ (((float) note) / 12.));

    }


    while (mseconds() < newtime);

    if (note) {

        set_beeper_pitch(freq);

        beeper_on();

    }

    else {

        beeper_off();

    }

    if (music_next_command &&

        music_current_command != music_next_command){

        music_command(music_next_command);

        music_next_command= 0;

    }


    newtime += (long)(duration * tempo);

}


void main()
{
   charge();
   while(1)
   {
        motor(0,0);
        motor(1,0);
/* wenn beide ir-sensoren dann r�ckw„rts, nicht wenn bumper hinten */
        while((ir_detect()==3) && (bumper()!=4))
        {
                motor(0,0);
                motor(1,0);
                sleep(1.0);
                motor(0,-50);
                motor(1,-50);
                charge();
                motor(0,50);
                sleep(1.0);
        }
/* wenn kein ir-sensor dann vorw„rts, nicht wenn ein bumper vorne */
        while((ir_detect()==0) && (bumper()!=2) && (bumper()!=1) && (bumper()!=3))
         {       /* motoren d�rfen beide fahren */
                motor(0,50);
                motor(1,55);
        }
/* wenn linker ir-sensor dann drehe rechts */
        while(ir_detect()==2)
        {       /* Robi dreht rechts */
                motor(0,20);
                motor(1,-20);
                msleep(300L);
        }
/* wenn rechter ir-sensor dann drehe links */
        while(ir_detect()==1)
        {       /* Robi dreht links */
                motor(0,-20);
                motor(1,20);
                msleep(300L);
        }
   }

   motor(0,0);
   motor(1,0);
   classics();

}