/* Simple program to introduce robot commands for the scribbler robot
   this program causes the scribbler to beep once
*/
#include <unistd.h>
#include <MyroC.h>

/* ***********************************************************
 * define initial variables regarding tempo, beats, and pitch
 * ************************************************************ */

/* tempo gives seconds per beat */
const double tempo = 1.0/2.0; /* a beat is 1/2 second */

/* variable beatm_n indicates m.n beats,
 *   so beat1_5 is 1 1/2 beats */
const double beat0_5  = tempo / 2.0;
const double beat1    = tempo;
const double beat1_5  = tempo * 1.5;
const double beat2    = tempo * 2;
const double beat2_5  = tempo * 2.5;
const double beat3    = tempo * 3;
const double beat3_5  = tempo * 3.5;
const double beat4    = tempo * 4;
const double beat5    = tempo * 5;
const double beat6    = tempo * 6;
const double beat7    = tempo * 7;
    
/* pitches in treble clef, with octave 1 just above middle C
 *   all pitches are tuned to concert A = 440
 *   for variable names, s or f means sharp or flat
 *   number at end of variable name gives octave above middle C
 *   the following frequencies are from the Piano_key_frequencies article 
 *   in Wikipedia */
const int silence  = 0;
const int pitchB3  = 246;
const int pitchC4  = 261;
const int pitchDf4 = 277;
const int pitchCs4 = 277; /* = pitchDf4; */
const int pitchD4  = 293;
const int pitchEf4 = 311;
const int pitchDs4 = 311; /* = pitchEf4; */
const int pitchE4  = 329;
const int pitchF4  = 349;
const int pitchGf4 = 369;
const int pitchFs4 = 369; /* = pitchGf4; */
const int pitchG4  = 391;
const int pitchAf4 = 415;
const int pitchGs4 = 415; /* = pitchAf1; */
const int pitchA4  = 440;
const int pitchBf4 = 466;
const int pitchAs4 = 466; /* = pitchBf4; */
const int pitchB4  = 493;
const int pitchC5  = 523;
const int pitchDf5 = 554;
const int pitchCs5 = 554; 
const int pitchD5  = 587;
const int pitchEf5 = 622;
const int pitchDs5 = 622;
const int pitchE5  = 659;
const int pitchF5  = 698;
const int pitchGf5 = 739;
const int pitchFs5 = 739; 
const int pitchG5  = 783;
const int pitchAf5 = 830;
const int pitchGs5 = 830;
const int pitchA5  = 880;
const int pitchBf5 = 932;
const int pitchAs5 = 932;
const int pitchB5  = 987;
const int pitchC6 = 1046;

/* ***********************************************************
 * playing a note includes separating notes from each other 
 *     (by amount 0.1 * tempo)
 * ************************************************************ */
void
play (double duration, double pitch) 
{
  rBeep (duration - 0.1 * tempo, pitch);
  rBeep (0.1 * tempo, 0.0);
} // play

/* ***********************************************************
 * play Spirit Song by John Wimbar (from Songs book, page 170A)
 * ************************************************************ */
void
spirit_song (void)
{
  // first phrase
  play (beat1  , pitchE5);
  play (beat1  , pitchF5);
  play (beat1  , pitchG5);
  play (beat1_5, pitchA5);
  play (beat0_5 , pitchA5);
  play (beat1_5, pitchA5);
  play (beat0_5 , pitchA5);
  play (beat1  , pitchA5);
  play (beat1  , pitchD5);
  play (beat1  , silence);
    
  // second phrase
  play (beat0_5 , pitchE5);
  play (beat0_5 , pitchF5);
  play (beat1_5, pitchG5);
  play (beat0_5 , pitchG5);
  play (beat1_5, pitchG5);
  play (beat0_5 , pitchA5);
  play (beat2  , pitchC5);
  play (beat1  , silence);
    
  // third phrase 
  play (beat0_5 , pitchD5);
  play (beat0_5 , pitchE5);
  play (beat1_5, pitchF5);
  play (beat0_5 , pitchF5);
  play (beat1_5, pitchF5);
  play (beat0_5 , pitchF5);
  play (beat1  , pitchF5);
  play (beat1  , pitchB4);
  play (beat1_5, pitchC5);
  play (beat0_5 , pitchD5);
  play (beat4  , pitchE5);
  play (beat1  , silence);
    
  // fourth phrase = first phrase
  play (beat1  , pitchE5);
  play (beat1  , pitchF5);
  play (beat1  , pitchG5);
  play (beat1_5, pitchA5);
  play (beat0_5 , pitchA5);
  play (beat1_5, pitchA5);
  play (beat0_5 , pitchA5);
  play (beat1  , pitchA5);
  play (beat1  , pitchD5);
  play (beat1  , silence);
    
  // fifth phrase = second phrase
  play (beat0_5 , pitchE5);
  play (beat0_5 , pitchF5);
  play (beat1_5, pitchG5);
  play (beat0_5 , pitchG5);
  play (beat1_5, pitchG5);
  play (beat0_5 , pitchA5);
  play (beat2  , pitchC5);
  play (beat1  , silence);
    
  // sixth phrase = third phrase with different ending 
  play (beat0_5 , pitchD5);
  play (beat0_5 , pitchE5);
  play (beat1_5, pitchF5);
  play (beat0_5 , pitchF5);
  play (beat1  , pitchF5);
  play (beat1  , pitchE5);
  play (beat1_5, pitchD5);
  play (beat0_5 , pitchD5);
  play (beat1  , pitchC5);
  play (beat1  , pitchB4);
  play (beat7  , pitchC5);
  play (beat1  , silence);
    
  // Chorus
  play (beat4  , pitchA5);
  play (beat3  , pitchB5);
  play (beat1  , pitchA5);
  play (beat4  , pitchG5);
  play (beat3  , pitchE5);
  play (beat1  , silence);
    
  play (beat3  , pitchF5);
  play (beat1  , pitchA5);
  play (beat3  , pitchG5);
  play (beat1  , pitchF5);
  play (beat5  , pitchE5);
  play (beat3  , silence);
  
  play (beat4  , pitchA5);
  play (beat3  , pitchB5);
  play (beat1  , pitchA5);
  play (beat4  , pitchG5);
  play (beat3  , pitchE5);
  play (beat1  , silence);
    
  play (beat3  , pitchF5);
  play (beat1  , pitchE5);
  play (beat3  , pitchD5);
  play (beat1  , pitchC5);
  play (beat5  , pitchC5);
  play (beat1  , silence);
} // spirit_song


/* ***********************************************************
 * organize overall interaction with scribbler robot:
 *   connect to scribbler
 *   play Spirit Song by John Wimbar (from Songs book, page 170A)
 *   disconnect from scribbler
 * ************************************************************ */

int
main (void) 
{
   rConnect ("/dev/rfcomm0");

   double speed_left = 0.33;
   double speed_right = 0.66;

   for (int i = 0; i < 3; i++)
   {
     rMotors (speed_left, speed_right);
     spirit_song();
     
     speed_left = 1 - speed_left;
     speed_right = 1 - speed_right;
   }
   
   rDisconnect ();
}  // main