Merry Christmas Robot
My son and I did a Christmas themed robot project for hack the halls. We used the BS2e controlled CBA robot, a SoundPal playing "The First Noel" while driving a circle around a Christmas tree decoration using a Ping))). The tree is decorated with my Propeller chip LED marque that says "Merry Christmas", and the star on the tree is an S2 robot badge. Here's the video:
Here's the code to load "The First Noel" on the SoundPal
The LED Marque is covered in this thread: http://forums.parallax.com/showthread.php?136152-LED-Marquee-Module-for-Gadget-Gangster-Platform-(w-video)
The software which makes the robot go in a circle around the tree is described here: http://forums.parallax.com/showthread.php?139096-Wall-Following-Examples-(video-and-code)
Here's the code to load "The First Noel" on the SoundPal
' ================================================== =======================
'
' File...... SoundPALNoel.bs2
' Purpose... Constants and Standard Subroutines for SoundPAL
' Author.... Parallax, Inc.
' E-mail.... support@parallax.com
' Started... 2007.05.01
' Updated... 2007.10.29
'
' {$STAMP BS2e}
' {$PBASIC 2.5}
'
' ================================================== =======================
' -----[ Program Description ]---------------------------------------------
' This is a blank template defining constants and subroutines that
' provide an interface to the Parallax SoundPAL (p/n 28825) Miniature
' Sound Player.
' -----[ I/O Definitions ]-------------------------------------------------
iopin PIN 8 'Pin number used for communicaiton with SoundPAL.
'Change as needed.
' -----[ Constants ]-------------------------------------------------------
baud CON $8000 + 84 'Communication baudrate is 9600 for BS2, BS2e, and BS2pe.
reset CON $8000 + 813 'Reset baudrate is 1200 for BS2, BS2e, and BS2pe.
'See BASIC Stamp manual for settings with other Stamps.
'Commands
play CON $01 'Play the segment at the following address ($01-$FF).
repeat CON $02 'Begin a repeat block.
' Next arg is repeat count (1-254; 255 = endlessly).
again CON $03 'End the repeat block.
'Playing styles
marcato CON $04 'Normal, separated notes.
staccato CON $05 'Very short notes.
legato CON $06 'Connected notes.
glissando CON $07 'Connected, sliding notes.
'Tempos
tmp0 CON $08 'Quarter note = 133 beats/min.
tmp1 CON $09 'Quarter note = 266 beats/min. (default)
tmp2 CON $0A 'Quarter note = 532 beats/min.
tmp3 CON $0B 'Quarter note = 1064 beats/min.
'Octaves
oct0 CON $0C 'A_0 = 110Hz
oct1 CON $0D 'A_0 = 220Hz
oct2 CON $0E 'A_0 = 440Hz (default)
oct3 CON $0F 'A_0 = 880Hz
'Slur or tie, connecting two subsequent notes only.
slur CON $10
'Glissando rates: gl1 is fastest; gl15 is slowest.
gl1 CON $11
gl2 CON $12
gl3 CON $13
gl4 CON $14
gl5 CON $15
gl6 CON $16
gl7 CON $17
gl8 CON $18
gl9 CON $19
gl10 CON $1A
gl11 CON $1B
gl12 CON $1C
gl13 CON $1D
gl14 CON $1E
gl15 CON $1F
'Notes. When unmodified by addition of duration, these are all quarter notes.
ZZZ CON $80 'Rest
C_0 CON $81 'Low C natural. (Middle C in oct2.)
Cs0 CON $82 'Low C sharp.
Df0 CON $82 'Low D flat.
D_0 CON $83 'Low D natural.
Ds0 CON $84 'Low D sharp.
Ef0 CON $84 'Low E flat.
E_0 CON $85 'Low E natural.
F_0 CON $86 'Low F natural.
Fs0 CON $87 'Low F sharp.
Gf0 CON $87 'Low G flat.
G_0 CON $88 'Low G natural.
Gs0 CON $89 'Low G sharp.
Af0 CON $89 'Low A flat.
A_0 CON $8A 'Low A natural.
As0 CON $8B 'Low A sharp.
Bf0 CON $8B 'Low B flat.
B_0 CON $8C 'Low B natural.
C_1 CON $8D 'Medium C natural. (Middle C in oct1.)
Cs1 CON $8E 'Medium C sharp.
Df1 CON $8E 'Medium D flat.
D_1 CON $8F 'Medium D natural.
Ds1 CON $90 'Medium D sharp.
Ef1 CON $90 'Medium E flat.
E_1 CON $91 'Medium E natural.
F_1 CON $92 'Medium F natural.
Fs1 CON $93 'Medium F sharp.
Gf1 CON $93 'Medium G flat.
G_1 CON $94 'Medium G natural.
Gs1 CON $95 'Medium G sharp.
Af1 CON $95 'Medium A flat.
A_1 CON $96 'Medium A natural.
As1 CON $97 'Medium A sharp.
Bf1 CON $97 'Medium B flat.
B_1 CON $98 'Medium B natural.
C_2 CON $99 'High C natural. (Middle C in oct0.)
Cs2 CON $9A 'High C sharp.
Df2 CON $9A 'High D flat.
D_2 CON $9B 'High D natural.
Ds2 CON $9C 'High D sharp.
Ef2 CON $9C 'High E flat.
E_2 CON $9D 'High E natural.
F_2 CON $9E 'High F natural.
Fs2 CON $9F 'High F sharp.
Gf2 CON $9F 'High G flat.
'Duration modifiers. Add value to note to change duration.
s CON $20-$80 'Sixteenth note.
e CON $40-$80 'Eighth note.
de CON $60-$80 'Dotted eighth note.
q CON $80-$80 'Quarter note.
dq CON $C0-$80 'Dotted quarter note.
h CON $A0-$80 'Half note.
dh CON $E0-$80 'Dotted half note.
'Canned sound sequences, accessed via the "play" command.
charge CON $40 'Charge!
taps CON $44 'Taps
reveille CON $5D 'Reveille
firstpost CON $7D 'First Post (horse race bugle call)
intro CON $8D 'Doo-doot doo doot doot DOOT
nyah CON $93 'Nyah nyah nyah nyah NYAH nyah!
dead CON $97 'Funeral dirge
batthymn CON $9D 'Battle Hymn of the Republic
dixie CON $A5 'Dixie
cucaracha CON $AC 'La Cucaracha
popweasel CON $AF 'Pop! Goes the Weasel
marsell CON $B3 'Marsellaise
rulebrit CON $B9 'Rule Brittania
matilda CON $C0 'Walzing Matilda
kradoucha CON $C6 'Kradoutcha ("There's a place in France...")
wedding CON $CD 'Wedding March
ode2joy CON $D2 'Ode to Joy
dudu CON $DA 'Du, Du Liegst Mir im Herzen
notme CON $E1 'Rude sound
uhoh CON $E5 'Uh oh!
siren CON $E8 'American style siren. Infinite loop: reset to exit.
phone CON $EE 'Rings once.
whistle CON $F3 'Wolf whistle.
cricket CON $FA 'Play using oct3 for cricket; oct0 for frog.
BPART CON 35 'EEPROM address of B section
' -----[ Initialization ]--------------------------------------------------
PAUSE 10
GOSUB DoReset
' -----[ Program Code ]----------------------------------------------------
' Because working RAM is smaller than EEPROM we save the song in two sections
GOSUB SaveAPart
GOSUB SaveBPart
GOSUB WaitDone
' Now play the song.
SEROUT iopin, baud, ["=", play, 1, 0, "!"]
END
' -----[ Subroutines ]-----------------------------------------------------
'------[ SaveAPart ]--------------------------------------------------------
' Save the A section to EEPROM and it requires 35 bytes
SaveAPart:
GOSUB WaitDone
SEROUT iopin, baud, ["="]
' Loop the whole song 3 times
SEROUT iopin, baud, [repeat, 3] '2
' pickup notes
SEROUT iopin, baud, [tmp0, e+E_0, e+D_0] '5
' Loop the remaining A section
SEROUT iopin, baud, [repeat, 2] '7
SEROUT iopin, baud, [dq+C_0, e+D_0, e+E_0, e+F_0, h+G_0, e+A_0, e+B_0] '14
SEROUT iopin, baud, [q+C_1, q+B_0, q+A_0, dq+G_0, e+ZZZ, q+A_0, q+B_0] '21
SEROUT iopin, baud, [q+C_1, q+B_0, q+A_0, q+G_0, q+A_0, q+B_0] '27
SEROUT iopin, baud, [q+C_1, q+G_0, q+F_0, h+E_0, e+E_0, e+D_0] '33
SEROUT iopin, baud, [again] '34
' The B Section will get stored here.
SEROUT iopin, baud, [again] '35
SEROUT iopin, baud, [0] '36 bytes
SEROUT iopin, baud, ["#", 1] 'Save to EEPROM.
RETURN
'------[ SaveBPart ]--------------------------------------------------------
' Save the B section to EEPROM and it requires 26 bytes
SaveBPart:
GOSUB WaitDone
SEROUT iopin, baud, ["="]
SEROUT iopin, baud, [dq+C_0, e+D_0, e+E_0, e+F_0, h+G_0, e+C_1, e+B_0]
SEROUT iopin, baud, [dq+A_0, e+B_0, e+C_1, e+A_0, q+G_0, q+A_0, q+B_0]
SEROUT iopin, baud, [q+C_1, q+B_0, q+A_0, q+G_0, q+A_0, q+B_0]
SEROUT iopin, baud, [q+C_1, q+G_0, q+F_0, h+E_0]
SEROUT iopin, baud, [again]
SEROUT iopin, baud, [0] '26 byte
SEROUT iopin, baud, ["#", BPART] 'Save to EEPROM.
RETURN
'------[ WaitDone ]--------------------------------------------------------
'Wait for the SoundPAL to stop playing.
WaitDone:
SEROUT iopin, baud, ["?"] 'Send an enquiry.
SERIN iopin, baud, 2, Waitdone,[WAIT($FF)] 'Wait 2msec for reply or try again.
RETURN 'Reply received: return.
'------[ DoReset ]---------------------------------------------------------
'Reset the SoundPAL.
DoReset:
DO UNTIL iopin : LOOP 'Make sure SoundPAL is powered up.
SEROUT iopin, reset, [0] 'Output 9 low bits at 1200 baud (i.e. a 7.5ms pulse).
RETURN
The LED Marque is covered in this thread: http://forums.parallax.com/showthread.php?136152-LED-Marquee-Module-for-Gadget-Gangster-Platform-(w-video)
The software which makes the robot go in a circle around the tree is described here: http://forums.parallax.com/showthread.php?139096-Wall-Following-Examples-(video-and-code)
Comments
Looks like a winner for the Hack the Halls contest. :thumb:
-Tommy