Added buzzer and led diagnostics

Author: wizardofrobots

beachRover-v1-arduino/beachRover-v1-arduino.ino

@@ -1,8 +1,9 @@
-#include "motor_driver.h"
 #include<SR04.h>
+#include<Wire.h>
+
+#include "motor_driver.h"
 #include "robot.h"
 #include "QMC5883L-offset.h"
-#include<Wire.h>
 
 #define TRIG_PIN 8
 #define ECHO_PIN 7
@@ -13,6 +14,7 @@
 
 SR04 sr04 = SR04(ECHO_PIN, TRIG_PIN);
 
+
 //MechaQMC5883 qmc;
 QMC5883L compass;
 
@@ -47,34 +49,38 @@ void right_encoder_update() {
 
 void setup() {
 
+  // Initialize I2C and Serial port
   Wire.begin();
-//  Serial.begin(9600);
+  Serial.begin(9600);
 
   // Magnetometer
   compass.init(2666,120,0);
   compass.setMode(Mode_Continuous,ODR_100Hz,RNG_2G,OSR_512);
 
-
   //pinModes
   pinMode(LEFT_INPUT_1, OUTPUT);
   pinMode(LEFT_INPUT_2, OUTPUT);
   pinMode(RIGHT_INPUT_1, OUTPUT);
   pinMode(RIGHT_INPUT_2, OUTPUT);
-//  pinMode(17,OUTPUT);
-  pinMode(14,OUTPUT);
+  pinMode(GREEN_LED,OUTPUT);
+  pinMode(YELLOW_LED,OUTPUT);
   pinMode(LED_BUILTIN, OUTPUT);
+  
   //encoder interrupts
   attachInterrupt(digitalPinToInterrupt(2), left_encoder_update, RISING);
   attachInterrupt(digitalPinToInterrupt(3), right_encoder_update, RISING);
 
+  // test buzzer and LED
+  run_diagnostics();
+
 }
 
 double kalman(double prev_value, double new_value, double ratio) {
   return (prev_value * ratio) + (new_value * (1 - ratio));
 }
 
 void loop() {
-//  test_leds();
+
   int x, y, z;
   compass.read(&x, &y, &z);
   float heading = atan2(y, x);

beachRover-v1-arduino/pitches.h

@@ -0,0 +1,93 @@
+/*************************************************
+ * Pitches
+ *************************************************/
+
+#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  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

beachRover-v1-arduino/robot.cpp

@@ -1,4 +1,6 @@
+#include<Arduino.h>
 #include "robot.h"
+#include "pitches.h"
 
 boolean on = true;
 
@@ -10,11 +12,94 @@ void indicate_led(LED light, boolean on) {
   }
 }
 
-void test_leds() {
+
+
+void flash_leds(){
   indicate_led(YELLOW_LED, true);
   indicate_led(GREEN_LED, false);
   delay(500);
   indicate_led(YELLOW_LED, false);
   indicate_led(GREEN_LED, true);
   delay(500);
+  indicate_led(YELLOW_LED, false);
+  indicate_led(GREEN_LED, false);
+}
+
+void test_leds() {
+ for(int i=0;i<3;i++){
+  flash_leds(); 
+ }
+}
+
+
+//Mario main theme melody
+int mario[] = {
+  NOTE_E7, NOTE_E7, 0, NOTE_E7,
+  0, NOTE_C7, NOTE_E7, 0,
+  NOTE_G7, 0, 0,  0
+};
+
+//Mario main them tempo
+int mario_tempo[] = {
+  12, 12, 12, 12,
+  12, 12, 12, 12,
+  12, 12, 12, 12,
+  12, 12, 12, 12,
+
+  12, 12, 12, 12,
+  12, 12, 12, 12,
+  12, 12, 12, 12,
+  12, 12, 12, 12,
+
+  9, 9, 9,
+  12, 12, 12, 12,
+  12, 12, 12, 12,
+  12, 12, 12, 12,
+
+  12, 12, 12, 12,
+  12, 12, 12, 12,
+  12, 12, 12, 12,
+  12, 12, 12, 12,
+
+  9, 9, 9,
+  12, 12, 12, 12,
+  12, 12, 12, 12,
+  12, 12, 12, 12
+};
+
+void buzz(int targetPin, long frequency, long length) {
+  //  analogWrite(GREEN_LED, 255);
+  long delayValue = 1000000 / frequency / 2;
+
+  long numCycles = frequency * length / 1000;
+
+  for (long i = 0; i < numCycles; i++) { // for the calculated length of time...
+    digitalWrite(targetPin, HIGH); // write the buzzer pin high to push out the diaphram
+    delayMicroseconds(delayValue); // wait for the calculated delay value
+    digitalWrite(targetPin, LOW); // write the buzzer pin low to pull back the diaphram
+    delayMicroseconds(delayValue); // wait again or the calculated delay value
+  }
+  //  analogWrite(GREEN_LED, 0);
+
+}
+
+void sing(int song[],int song_length, int* tempo) {
+  
+  Serial.print("Size of song");
+  Serial.println(song_length);
+  for (int thisNote = 0; thisNote < song_length; thisNote++) {
+    int noteDuration = 1000 / tempo[thisNote];
+    buzz(BUZZER, song[thisNote], noteDuration);
+    int pauseBetweenNotes = noteDuration * 1.30;
+    delay(pauseBetweenNotes);
+    buzz(BUZZER, 0, noteDuration);
+  }
+}
+
+
+void run_diagnostics() {
+  pinMode(BUZZER, OUTPUT);//buzzer
+  pinMode(GREEN_LED, OUTPUT);//led indicator when singing a note
+  sing(mario,sizeof(mario)/sizeof(mario[0]), mario_tempo);
+  test_leds();
 }

beachRover-v1-arduino/robot.h

@@ -3,10 +3,13 @@
 #endif
 #include<Arduino.h>
 
+#define BUZZER 5
+
 enum LED{
 	GREEN_LED=17,
 	YELLOW_LED=14
 };
 
 void indicate_led(LED led,boolean on);
 void test_leds();
+void run_diagnostics();