Lesson 13: miniAuto Secondary Development

Programming Skills:

• • Understand and use custom Arduino libraries
• • Control RGB LEDs with button input
• • Program musical sequences with buzzers

Hardware Control:

• • Ultrasonic sensor library functions
• • FastLED library for RGB control
• • Tone library for music generation

🔗 Ultrasound Library Functions

The "Ultrasound" library manages the glowing ultrasonic module, allowing you to set RGB LED colors and retrieve distance measurements using I2C communication.

• Ultrasound::Color(r1, g1, b1, r2, g2, b2) - Controls RGB LED colors on left and right sides
• Ultrasound::GetDistance() - Returns measured distance from ultrasonic sensor
• I2C Communication - Uses wireWriteDataArray and wireReadDataArray functions

⚙️ Library Usage Example

Here's how to create an ultrasound object and use its functions:

🎮 Program Behavior

• Default State: RGB LED lights up red
• Button Pressed (KEY1): LED changes to white
• Button Released: LED returns to red
• FastLED Library: Used for precise color control

// RGB Control with Button Input
#include "FastLED.h"

const static uint8_t ledPin = 2;    // RGB LED pin
const static uint8_t keyPin = 3;    // Button pin
static CRGB rgbs[1];                // RGB LED object
bool keyState;                      // Button state detection

void setup() {
  Serial.begin(9600);               // Initialize serial communication
  pinMode(keyPin, INPUT);           // Configure button as input
  FastLED.addLeds<WS2812, ledPin, GRB>(rgbs, 1);  // Initialize RGB LED
  Rgb_Show(255, 0, 0);              // Set initial color to red
}

void loop() {
  keyState = analogRead(keyPin);    // Read button state
  if(keyState) 
    Rgb_Show(255, 0, 0);            // Button released: red
  else 
    Rgb_Show(255, 255, 255);        // Button pressed: white
  delay(100);
}

// RGB Control Function
void Rgb_Show(uint8_t rValue, uint8_t gValue, uint8_t bValue) {
  rgbs[0].r = rValue;               // Set red value
  rgbs[0].g = gValue;               // Set green value  
  rgbs[0].b = bValue;               // Set blue value
  FastLED.show();                   // Display the color
}

🎼 Program Behavior

• Power On: Robot is ready, buzzer is silent
• KEY1 Button Pressed: Buzzer plays predefined melody
• Melody Features: Uses note arrays and timing for realistic music
• Tone Library: Controls frequency and duration of each note

// Buzzer Music Control with Button Input
#include "tone.h"

// Musical notes array (simplified version)
static int song[16] = { 
  NOTE_E4, NOTE_E4, NOTE_E4, NOTE_C4, NOTE_E4, NOTE_G4, NOTE_G3, NOTE_C4,
  NOTE_G3, NOTE_E3, NOTE_A3, NOTE_B3, NOTE_AS3, NOTE_A3, NOTE_G3, NOTE_E4
};

// Note durations array
static int noteDurations[16] = { 
  8, 4, 4, 8, 4, 2, 2, 3,
  3, 3, 4, 4, 8, 4, 8, 8
};

const static uint8_t buzzerPin = 3;    // Buzzer pin
const static uint8_t keyPin = A3;      // Button pin
bool keyState;                         // Button state detection
bool taskStart = 0;                    // Music task control

void setup() {
  pinMode(keyPin, INPUT);              // Configure button as input
  Serial.begin(9600);                  // Initialize serial communication
  Serial.setTimeout(500);              // Set timeout for serial reading
}

void loop() {
  keyState = analogRead(keyPin);       // Read button state
  if (!keyState) taskStart = 1;       // Button pressed: start music
  
  if (taskStart) {
    tune_task();                       // Play music
    taskStart = 0;                     // Reset task flag
  }
}

// Music playback function
void tune_task(void) {
  for (int thisNote = 0; thisNote < 16; thisNote++) {
    // Calculate note duration (1 beat = 1 second)
    int noteDuration = 1000/noteDurations[thisNote];
    
    // Play the note
    tone(buzzerPin, song[thisNote], noteDuration);
    
    // Pause between notes (130% of note duration)
    int pauseBetweenNotes = noteDuration * 1.10;
    delay(pauseBetweenNotes);
    
    // Stop the tone
    noTone(buzzerPin);
  }
}