/**************************************************************/
/* template.c: provides a menued interface to the Handyboard, */
/*             allowing you to test motors, sensors, etc...   */
/*	       while your program is loaded                   */
/*                                                            */
/* Usage: Turn the User Knob to select a menu option.         */
/*        Use the Start and Stop buttons to make selections   */
/*                                                            */
/* Ben "Max" Davis, 2/99, for MIT ESG Robotics Seminar SP.285 */
/*                  some code used from menu.c by Anne Wright */
/*                                                            */
/* v1.1, 2/00, minor modifications, motor power is now 100%   */
/* v1.2, 3/00, ?? switch debounce, analog joystick control    */
/*                                                            */
/**************************************************************/

/* music.c */

/* hacked up by randy sargent 1/91 */
/* randy apologizes for the annoying syntax of the music as he tries to
   re-read the earlier songs 6/94 */
  
/* songs work like this: */
/* a note is <number><optional # or &><a-g> */
/* <number> how many "beats" the note gets.  if you make 1 an eighth note,
   then 2=quarter note, 4=half note, 8=whole note, 3=dotted quarter,
   6=dotted half, etc.  If you have a dotted eighth, you'd need to make eighth
   equal 2, etc. */
/* optional # or & means make the next note sharp or flat */
/* a-g means which note.  the octave for the note is automatically chosen
   to make the note as close as possible to the last note.  you can override
   this with U or D in between notes to force a shift up or down.  just enter
   all the notes without the U and D's, listen to the song, and it will become
   clear where the U's and D's need to go*/

/* note that you can add spaces anywhere you want, to make your song (somewhat)
   more legible.  for debugging you might want to put spaces at each
   measure, for example */

/* use start_process to play your favorite song while your robot robots :) */






    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() {
    play(looney_tune_song);
}

  char benny_song[] ="1c1d1cU2f2f1d1c1#g1a2c2d1c1a1#g1g2f1f1f1a1c2d5c1c1d1c2f2f1d1c1#g1a2c2d1c1a1#g1g2c1c1c1e1g2e5c1c1d1c2f2f2f2f2f2f1d1c1g1a2#a2#a2#a2#a1d1#a1d1#aU1f3g1a1#g1a1#g1a3c1a1#g1#a5f1a1#f1#d1cU1#g1f1d1b4f";

/* Matt Southall 7th June 1996 */
/* "Recognisably supposed to be the Benny Hill Theme" ;) */
void benny() {
    play(benny_song);
}

/* The MUSIC BOX song -- transcribed by James Hu (jxh@cs.wustl.edu) */

    char mb_song1[]   =
"2c2e2g2eU2c2g2e2gD2c2e2g2eU2c2g2e 2c2c2g2c2e2c2e2gD2cU2c2b2a7g1r 2g2g2f2d2b2g2b2d2f2e2cU2a7g1r D2c2c2g2c2e2c2e2gD2cU2c2b2a7g1r 2g2g2f2d2b2g2b2d2b2c2gU2e4c 2c2e2g2c2a2f2c2a2c2f2a2gD2cU2a4g D2g2b2d2g2f2d2b2g2b2d2f2e2cU2a4g D2c2e2g2c2a2f2c2a2c2f2a2gD2cU2a4g D2g2b2d2g2f2d2b2g2b2d2b2c2gU2e7c";

    char mb_song2[]   =
"2c2e2g2eU2c2g2e2gD2c2e2g2eU2c2g2e 2c2c2g2c2e2c2e2gD2cU2c2b2a7g1r U2g2g2f2d2b2g2b2d2f2e2cU2a7g1r DD2c2c2g2c2e2c2e2gD2cU2c2b2a7g1r U2g2g2f2d2b2g2b2d2b2c2gU2e4c 2c2e2g2c2a2f2c2a2c2f2a2gD2cU2a4g D2g2b2d2g2f2d2b2g2b2d2f2e2cU2a4g DD2c2e2g2c2a2f2c2a2c2f2a2gD2cU2a4g U2g2b2d2g2f2d2b2g2b2d2b2c2gU2e7c";

void musicbox() {
  play(mb_song1);
  play(mb_song2);
}

/**********************************************************************/
/* 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 2g2e2d2e18e";

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] && !stop_button()) {

        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 randmusic() {
  int x;
  while (!stop_button()) {
    tempo = random(10) + 10 * 128 / 256;
    x = random(8);
    if (x == 0)
      play(pp_song);
    if (x == 1)
      play(w_song);
    if (x == 2)
      play(classics_song);
    if (x == 3)
      play(charge_song);
    if (x == 4)
      play(looney_tune_song);
    if (x == 5)
      play(benny_song);
    if (x == 6)
      play(mb_song1);
    if (x == 7)
      play(mb_song2);
  }
}

/* place your #defines and global variable declarations here */

void program()
{
  randmusic();
}

/* put your functions and subroutines here */




/*********************************************************************/
/********* FROM HERE ON ARE MENU ROUTINES: LEAVE AS IS ***************/
/*********************************************************************/


void main()
{

  printf("template.c v1.2 updated 3/1/00\n");
  sleep(1.5);

  while (1==1) {
    ao();
    menu();  
    ao();
    program();
    ao();
    sleep(1.0);
  }

}

char menu_choices[7][32] = {"Any button = run user program","MOTOR: Start=FWD  0  : Stop=RVS","MOTOR: Start=FWD  1  : Stop=RVS","MOTOR: Start=FWD  2  : Stop=RVS","MOTOR: Start=FWD  3  : Stop=RVS","Any button =    Show Analogs","Any button =    Show Digitals"};

int menu_motorstate = 0;					      
int menu_choice = 9;						      
int menu_motorpower = 100;					      

void menu() {

  while (1) {

    while (stop_button() || start_button()) {}
    sleep(0.05);
    while (stop_button() || start_button()) {}
    sleep(0.05);
    while (stop_button() || start_button()) {}
    sleep(0.05);
    while (stop_button() || start_button()) {}
    
    menu_choice = select_string(menu_choices, 7);

    if ((menu_choice == -1) || (menu_choice == 0)) {
      printf("\n\n");
      return;
    }
    else {
      if (menu_choice == 1) {
	motor(0, menu_motorpower);
      }
      if (menu_choice == 2) {
	motor(0, -menu_motorpower);
      }
      if (menu_choice == 3) {
	motor(1, menu_motorpower);
      }
      if (menu_choice == 4) {
	motor(1, -menu_motorpower);
      }
      if (menu_choice == 5) {
	motor(2, menu_motorpower);
      }
      if (menu_choice == 6) {
	motor(2, -menu_motorpower);
      }
      if (menu_choice == 7) {
	motor(3, menu_motorpower);
      }
      if (menu_choice == 8) {
	motor(3, -menu_motorpower);
      }
      if (menu_choice == 9) {
	while (start_button() || stop_button()) {}
	display_analogs();
      }
      if (menu_choice == 10) {
	while (start_button() || stop_button()) {}
	display_analogs();
      }
      if (menu_choice == 11) {
	while (start_button() || stop_button()) {}
	display_digitals();
      }
      if (menu_choice == 12) {
	while (start_button() || stop_button()) {}
	display_digitals();
      }

      while (stop_button() || start_button()) {}
      
      ao();

    }
    
  }

}

void display_digitals()
{

  int i, a;

  while (!start_button() && !stop_button()) {

    printf("digitals 7->15: ");

    for(i=7; i<=15; i++) {
      a = digital(i);
      printf("%d",a);    
    }
    printf("\n");

    sleep(0.1);
    
  }

}

void display_analogs()
{

  int i, a;

  while (!start_button() && !stop_button()) {

    for(i=0; i<=6; i++) {
      a = analog(i);
      if (a < 10) { printf(" "); }
      if (a < 100) { printf(" "); }
      printf("%d ",a);    
    }
    printf("\n");

    sleep(0.1);
    
  }

}
  
int select_string(char choices[][],int n)
{

  int selection,last_selection=-1,coarseness;
  if(n>_array_size(choices))
    n=_array_size(choices);

  coarseness=255/(n-1);

  while(!(stop_button() || start_button()))
    {
      selection=(knob())/coarseness;
      if(selection!=last_selection)
	{
	  printf("%s\n",choices[selection]);
	  sleep(0.1);
	  last_selection=selection;
	}
    }
  if (start_button()) {
    return selection * 2 - 1;
  }
  else {
    return selection * 2;
  }
}