#include <stdio.h>
#include <MyroC.h>

/* compile with the line
   cc -lMyroC -o scribbler-demo scribbler-demo.c
     or
   make LDFLAGS=-lMyroC scribbler-demo
*/

/* song from earsHangLow.c  */

/* Musical notes in the scale, as they correspond to beep frequency*/
/* const is a constant variable. It needs to be initialized when it's 
   declared because they will not be altered.
   int is an integer.*/
const int pitchA4  = 440;
const int pitchBf4 = 466;
const int pitchAs4 = 466; 
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;

int
main (void)
{
  printf ("program to make the Scribbler robot move and beep\n");

  /* initialize both the robot and eSpeak */
  rConnect ("/dev/rfcomm0");
  rSetForwardnessTxt ("fluke-forward");

  /* Move left and right, with associated beeps */
  printf ("turning to the right\n");
  rTurnRight (0.5, 1.0);  /* turn right at half speed for 1 second */
  rBeep (1.0, 880);       /* beep a middle C for 1 second */

  /* Move forward and backward */
  printf ("moving forward and backward\n");
  rForward (1.0, 1.0);
  rBackward (1.0, 1.0);

  /* Move left and right, with associated beeps */
  printf ("turning to the left\n");
  rTurnLeft (0.75, 1.0);  /* turn left at 3/4 speed for 1 second */
  rBeep (1.0, 1760);      /* beep an octive above middle C for 1 second */

  /* circle right */
  printf ("circle right\n");
  rMotors (0.75, 0.25);
  
  /* Now beep the song! */

  /* line 1: "Do your ears hang low?" */
  /* robot beeps with the pitch A5 (references to 880 Hz.) for 0.25 seconds. */
  rBeep (0.25, pitchB5); 
  rBeep (0.25, pitchA5);
  rBeep (0.5, pitchG5);
  rBeep (0.5, pitchG5);
  rBeep (0.5, pitchG5);

  /* line 2: "Do they wobble to and fro?" */
  rBeep (0.25, pitchB4);
  rBeep (0.25, pitchC5);
  rBeep (0.20, pitchD5);
  rBeep (0.20, pitchE5);
  rBeep (0.20, pitchD5);
  rBeep (0.20, pitchB4);
  rBeep (0.40, pitchD5);
 
  /* line 3: "Can you tie them in a knot?" */ 
  rBeep (0.25, pitchG5);
  rBeep (0.25, pitchA5);
  rBeep (0.20, pitchB5);
  rBeep (0.20, pitchB5);
  rBeep (0.20, pitchB5);
  rBeep (0.20, pitchB5);
  rBeep (0.50, pitchB5);

  rMotors (0.0, 0.0);

  /* circle left */
  printf ("circle left\n");
  rMotors (0.25, 0.75);

 /* line 4: "Can you tie them in a bow?" */  
  rBeep (0.25, pitchG5);
  rBeep (0.25, pitchA5);
  rBeep (0.20, pitchB5);
  rBeep (0.20, pitchA5);
  rBeep (0.20, pitchA5);
  rBeep (0.20, pitchGs5);
  rBeep (0.50, pitchA5);

  /* line 5: "Can you throw them o'er your shoulder" */
  rBeep (0.25, pitchB5);
  rBeep (0.25, pitchA5);
  rBeep (0.20, pitchG5);
  rBeep (0.20, pitchA5);
  rBeep (0.20, pitchG5);
  rBeep (0.20, pitchA5);
  rBeep (0.20, pitchG5);
  rBeep (0.20, pitchD5);
 
  /* line 6: "like a continental soldier?" */
  rBeep (0.20, pitchB4);
  rBeep (0.20, pitchC5);
  rBeep (0.20, pitchD5);
  rBeep (0.20, pitchE5);
  rBeep (0.20, pitchD5);
  rBeep (0.20, pitchB4);
  rBeep (0.20, pitchD5);
  rBeep (0.20, pitchD5);

  /* line 7: "Do your ears hang low?" */
  rBeep (0.20, pitchG5);
  rBeep (0.20, pitchA5);
  rBeep (0.7, pitchB5);
  rBeep (0.8, pitchA5);
  rBeep (1.1, pitchG5);

  rMotors (0.0, 0.0);

  /* Finish up with both the robot and eSpeak*/
  rDisconnect ();

  return 0;
}