Piano Bot

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View an image created with MLCAD and POV-Ray
(note: Work in PROGRESS)

Program Written in NQC

/* pianobot2.nqc
 *
 * Jesse Palmer
 * June 09, 2001
 * program for my robot that plays my piano
 */


//----------SOME DEFINED STUFF----------

//define motors
#define Play  OUT_A
#define Move  OUT_B

//define sensors
#define top  SENSOR_1 //sensor on the top of the rack
#define bottom  SENSOR_2 //sensor on the bottom of the rack

//define movement time

#define UP 76


//----------PARTS NEEDED FOR THE PROGRAM----------
void play_note() // Plays on note
  {
    SetSensor(SENSOR_1,SENSOR_TOUCH);
    SetSensor(SENSOR_2,SENSOR_TOUCH);
    OnFwd(Play);
    until (SENSOR_1 == 1);
    Off(Play);
    Wait(20);
    OnRev(Play);
    until (SENSOR_2 == 1);
    Off(Play);
  }

void play_note_faster() // Plays on note faster
  {
    SetSensor(SENSOR_1,SENSOR_TOUCH);
    SetSensor(SENSOR_2,SENSOR_TOUCH);
    OnFwd(Play);
    until (SENSOR_1 == 1);
    Off(Play);
    OnRev(Play);
    until (SENSOR_2 == 1);
    Off(Play);
  }
  
void up_note() //move up one key
  {
    ClearSensor(SENSOR_3);
    SetSensor(SENSOR_3,SENSOR_ROTATION);
    OnFwd(Move);
    until (abs(SENSOR_3) > 130);
    Off(Move);
    ClearSensor(SENSOR_3);
     
  }

void down_note() //moves down one key
  {
    ClearSensor(SENSOR_3);
    SetSensor (SENSOR_3,SENSOR_ROTATION);
    OnRev(Move);
    until (abs(SENSOR_3) > 130);
    Off(Move);
    ClearSensor(SENSOR_3);   
  }


//----------MAIN PROGRAM----------
task main()
  {
    play_note();//E    
    down_note();    
    play_note();//D    
    down_note();
    play_note();//C
    up_note();
    play_note();//D
    up_note();
    play_note();//E
    Wait(UP);    
    play_note();//E
    Wait(UP);
    play_note();//E
    down_note();
    play_note();//D
    Wait(UP);
    play_note();//D
    Wait(UP);
    play_note();//D
    up_note();
    play_note();//E
    up_note();
    up_note();
    play_note();//G
    Wait(UP);
    play_note();//G
    down_note();
    down_note();
    
    play_note();//E
    down_note();
    play_note();//D
    down_note();
    play_note();//C
    up_note();
    play_note();//D
    up_note();
    play_note();//E
    Wait(UP);
    play_note();//E
    Wait(UP);
    play_note();//E
    down_note();
    play_note();//D
    play_note_faster();//D
    Wait(UP);
    play_note_faster();//D
    up_note();
    play_note();//E
    down_note();
    play_note();//D
    down_note();
    play_note();//D
    Wait(UP);
    Wait(UP);
    up_note();
    up_note(); 
  }





			
			


	

  
 
    
 
    
    
 
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