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// Yep, this is actually -*- c++ -*-
//x axis pins
#define X_STEP_PIN 15
#define X_DIR_PIN 18
#define X_ENABLE_PIN 19
#define X_MIN_PIN 20
#define X_MAX_PIN 21
//y axis pins
#define Y_STEP_PIN 23
#define Y_DIR_PIN 22
#define Y_ENABLE_PIN 24
#define Y_MIN_PIN 25
#define Y_MAX_PIN 26
//z axis pins
#define Z_STEP_PIN 27
#define Z_DIR_PIN 28
#define Z_ENABLE_PIN 29
#define Z_MIN_PIN 30
#define Z_MAX_PIN 31
//pin for controlling the PSU.
#define PS_ON_PIN 14
void init_psu()
{
#ifdef PS_ON_PIN
pinMode(PS_ON_PIN, OUTPUT);
turn_psu_on();
#endif
}
void turn_psu_on()
{
#ifdef PS_ON_PIN
digitalWrite(PS_ON_PIN, LOW);
delay(2000); //wait for PSU to actually turn on.
#endif
}
void turn_psu_off()
{
#ifdef PS_ON_PIN
digitalWrite(PS_ON_PIN, HIGH);
#endif
}
void setup()
{
Serial.begin(38400);
Serial.println("You have failed me for the last time.");
//initialize all our pins.
pinMode(X_STEP_PIN, OUTPUT);
pinMode(X_DIR_PIN, OUTPUT);
pinMode(X_ENABLE_PIN, OUTPUT);
pinMode(X_MIN_PIN, INPUT);
pinMode(X_MAX_PIN, INPUT);
pinMode(Y_STEP_PIN, OUTPUT);
pinMode(Y_DIR_PIN, OUTPUT);
pinMode(Y_ENABLE_PIN, OUTPUT);
pinMode(Y_MIN_PIN, INPUT);
pinMode(Y_MAX_PIN, INPUT);
pinMode(Z_STEP_PIN, OUTPUT);
pinMode(Z_DIR_PIN, OUTPUT);
pinMode(Z_ENABLE_PIN, OUTPUT);
pinMode(Z_MIN_PIN, INPUT);
pinMode(Z_MAX_PIN, INPUT);
digitalWrite(X_MIN_PIN, HIGH);
digitalWrite(X_MAX_PIN, HIGH);
digitalWrite(Y_MIN_PIN, HIGH);
digitalWrite(Y_MAX_PIN, HIGH);
digitalWrite(Z_MIN_PIN, HIGH);
digitalWrite(Z_MAX_PIN, HIGH);
init_psu();
calculate_tones();
}
void loop()
{
Serial.println("Forward!");
digitalWrite(X_DIR_PIN, HIGH);
digitalWrite(Y_DIR_PIN, HIGH);
digitalWrite(Z_DIR_PIN, HIGH);
play_song(X_MAX_PIN, Y_MAX_PIN, Z_MAX_PIN);
delay(500);
Serial.println("Reverse!");
digitalWrite(X_DIR_PIN, LOW);
digitalWrite(Y_DIR_PIN, LOW);
digitalWrite(Z_DIR_PIN, LOW);
play_song(X_MIN_PIN, Y_MIN_PIN, Z_MIN_PIN);
delay(500);
}
boolean at_switch(byte pin)
{
return !digitalRead(pin);
}
#define TONE_COUNT 27
float frequencies[TONE_COUNT] = {
196.00, //G2 0
207.65, //G#2 1
220.00, //A2 2
233.08, //Bb2 3
246.94, //B2 4
261.63, //C3 5
277.18, //C#3 6
293.66, //D3 7
311.13, //D#3 8
329.63, //E3 9
349.23, //F3 10
369.99, //F#3 11
392.00, //G3 12
415.30, //G#3 13
440.00, //A3 14
466.16, //Bb3 15
493.88, //B3 16
523.25, //C4 17
554.37, //C#4 18
587.33, //D4 19
622.25, //D#4 20
659.26, //E4 21
698.46, //F4 22
739.99, //F#4 23
783.99, //G4 24
830.61, //G#4 25
880.00 //A4 26
};
int tones[TONE_COUNT];
#define NOTE_COUNT 66
int notes[] = {
12,12,12, 8,15,12, 8,15,12, // 9
19,19,19,20,15,12, 8,15,12, // 9
24,12,12,24,23,22,21,20,21, // 9
13,18,17,16,15,14,15, // 7
8,11, 8,11,15,12,15,19, // 8
24,12,12,24,23,22,21,20,21, // 9
13,18,17,16,15,14,15, // 7
8,11, 8,15,12, 8,15,12 // 8
};
int lengths[] = {
4, 4, 4, 3, 1, 4, 3, 1, 8,
4, 4, 4, 3, 1, 4, 3, 1, 8,
4, 3, 1, 4, 3, 1, 1, 1, 4,
2, 4, 3, 1, 1, 1, 4,
2, 4, 3, 1, 4, 3, 1, 8,
4, 3, 1, 4, 3, 1, 1, 1, 4,
2, 4, 3, 1, 1, 1, 4,
2, 4, 3, 1, 4, 3, 1, 8
};
void calculate_tones()
{
for (byte i=0; i<TONE_COUNT; i++)
tones[i] = (int)(1000000.0/ (2.0 * frequencies[i]));
}
void play_song(byte xPin, byte yPin, byte zPin)
{
digitalWrite(X_ENABLE_PIN, LOW); //enable
digitalWrite(Y_ENABLE_PIN, LOW); //enable
digitalWrite(Z_ENABLE_PIN, LOW); //enable
for (byte i=0; i<NOTE_COUNT; i++)
{
if (!at_switch(xPin) && !at_switch(yPin) && !at_switch(zPin))
{
play_note(tones[notes[i]], 80000*lengths[i]);
delay(10);
}
}
digitalWrite(X_ENABLE_PIN, HIGH); //disable
digitalWrite(Y_ENABLE_PIN, HIGH); //disable
digitalWrite(Z_ENABLE_PIN, HIGH); //disable
}
void play_note(int note, long time)
{
int count = round(time / note);
for (int i=0; i<count; i++)
{
digitalWrite(X_STEP_PIN, HIGH);
digitalWrite(Y_STEP_PIN, HIGH);
digitalWrite(Z_STEP_PIN, HIGH);
delayMicroseconds(note);
digitalWrite(X_STEP_PIN, LOW);
digitalWrite(Y_STEP_PIN, LOW);
digitalWrite(Z_STEP_PIN, LOW);
delayMicroseconds(note);
}
}
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