ece110finale.ino

#include "pitches.h"
const int LMAX = 230;
const int RMAX = 255;
const int L = 11;
const int R = 10;
int sensorValue = 0; 
int Trig_pin = 9;
int Echo_pin = A2; 
bool lock = false;

int randomWalkL(int moveSize){
  static int  place;     // variable to store value in random walk - declared static so that it stores
                         // values in between function calls, but no other functions can mess with its value
  int randomWalkLowRange = LMAX / 2;
  int randomWalkHighRange = LMAX;
  place = place + (random(-moveSize, moveSize + 1));

  if (place < randomWalkLowRange){                    // check lower and upper limits
    place = randomWalkLowRange + (randomWalkLowRange - place);     // reflect number back in positive direction
  }
  else if(place > randomWalkHighRange){
    place = randomWalkHighRange - (place - randomWalkHighRange);     // reflect number back in negative direction
  }

  return place;
}
int randomWalkR(int moveSize){
  static int  place;     // variable to store value in random walk - declared static so that it stores
                         // values in between function calls, but no other functions can mess with its value

  place = place + (random(-moveSize, moveSize + 1));
  int randomWalkHighRange = RMAX;
  int randomWalkLowRange = RMAX / 2;
  if (place < randomWalkLowRange){                    // check lower and upper limits
    place = randomWalkLowRange + (randomWalkLowRange - place);     // reflect number back in positive direction
  }
  else if(place > randomWalkHighRange){
    place = randomWalkHighRange - (place - randomWalkHighRange);     // reflect number back in negative direction
  }

  return place;
}
void blinkNose(){
  digitalWrite(13, HIGH);
  delay(500);
  digitalWrite(13, LOW);
  delay(100);
}
void halt() {
  analogWrite(L, 0);
  analogWrite(R, 0);
}


void goStraightForSec(int len) {
  analogWrite(L, LMAX - 20);
  analogWrite(R, RMAX);
  digitalWrite(4, HIGH);
  digitalWrite(5, LOW);
  digitalWrite(7, HIGH);
  digitalWrite(8, LOW);
  delay(len);
  halt();
}



void goRandomForSec(int len) {
  analogWrite(L, randomWalkL(30));
  analogWrite(R, randomWalkR(30));
  digitalWrite(4, HIGH);
  digitalWrite(5, LOW);
  digitalWrite(7, HIGH);
  digitalWrite(8, LOW);
  delay(len);
  halt();
}




void goBackForSec(int len) {
  analogWrite(L, LMAX-20);
  analogWrite(R, RMAX);
  digitalWrite(4, LOW);
  digitalWrite(5, HIGH);
  digitalWrite(7, LOW);
  digitalWrite(8, HIGH);
  delay(len);
  halt();
}



void rotate(int d, int len) {
  analogWrite(L, LMAX);
  analogWrite(R, RMAX);
  if (d > 50) {
    
    digitalWrite(4, LOW);
    digitalWrite(5, HIGH);
    digitalWrite(7, HIGH);
    digitalWrite(8, LOW); 
  } else {
    
    digitalWrite(4, HIGH);
    digitalWrite(5, LOW);
    digitalWrite(7, LOW);
    digitalWrite(8, HIGH);
  }
  /*for (int i=0;i <= len / 200; i++) {
    delay(50);
    digitalWrite(12, HIGH);

    delay(150);
    digitalWrite(12, LOW);
  }*/
    delay(len);
    halt();
    
  }

  double getDistance() {
    digitalWrite(Trig_pin, LOW);
    delayMicroseconds(2);
    digitalWrite(Trig_pin, HIGH);
    delayMicroseconds(10);
    digitalWrite(Trig_pin, LOW);
  int Time_out = 30000 ;//microsec
  int duration;
  duration = pulseIn(Echo_pin,HIGH,Time_out);
  if (duration == 0) duration = Time_out;
  Serial.print(duration/58);
  Serial.print("cm");
  Serial.print("\n====\n");
  return duration / 58;
}

void goTillClose (int cm){
  while (getDistance() > cm) {
    goStraightForSec(500);
    blinkNose();
    tone(12, NOTE_C4 , 4);
  }
}
void goTillAway (int cm){
  while (getDistance() < cm) {
    goBackForSec(500);
  }
}
void playGameMusic() {
 int melody[] = {
  NOTE_C4, NOTE_G3, NOTE_G3, NOTE_A3, NOTE_G3, 0, NOTE_B3, NOTE_C4
};
int noteDurations[] = {
  4, 8, 8, 4, 4, 4, 4, 4
};
for (int thisNote = 0; thisNote < 8; thisNote++) {

  int noteDuration = 1000 / noteDurations[thisNote];
  tone(12, melody[thisNote], noteDuration);


  
  int pauseBetweenNotes = noteDuration * 1.30;
  delay(pauseBetweenNotes);
  noTone(12);
}
}
void playZigeunerweisen() {
 int melody[] = {
  NOTE_GS5, NOTE_C6, NOTE_D6, NOTE_DS6, 
  NOTE_D6, NOTE_C6, NOTE_AS5,
  NOTE_C6, NOTE_C6
};
int noteDurations[] = {
  8, 8, 8, 4,
  4, 6, 8,
  4, 8
};
for (int thisNote = 0; thisNote < 9; thisNote++) {
  int noteDuration = 3000 / noteDurations[thisNote];
  tone(12, melody[thisNote], noteDuration);
  int pauseBetweenNotes = noteDuration * 1.45;
  delay(pauseBetweenNotes);
  noTone(12);
}
}


void setup() {
  delay(2000);
  playZigeunerweisen();
  Serial.begin(9600);
  pinMode(10, OUTPUT);
  pinMode(13, OUTPUT);
  pinMode(11, OUTPUT);
  pinMode(12, OUTPUT);
  pinMode(4, OUTPUT);
  pinMode(5, OUTPUT);
  pinMode(7, OUTPUT);
  pinMode(8, OUTPUT);
  pinMode(A2, INPUT);
  pinMode(A5, INPUT);
  pinMode(9, OUTPUT);
  halt();
}



void loop() {
  while(1) { if (lock) {
    delay(200000000000000); 
  } else {
    rotate(random(0,100), random(2000,3000));
  }
  goTillClose(15);
  delay(100);
  playGameMusic();
  digitalWrite(13, HIGH);
  for (int i=0; i<=20 000;i++)
    if (analogRead(A5) < 117) {
      lock = !lock;
      digitalWrite(13, LOW);
      delay(50);
    }
    digitalWrite(13, LOW);
    
    if (lock) {
      delay(200000000000000); 
    } else {
      goTillAway(20);
      goBackForSec(1000);
    }
  }
}