play_song.cpp

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#include "create/create.h"

#include <iostream>

int main(int argc, char** argv) {
  // Select robot. Assume Create 2 unless argument says otherwise
  create::RobotModel model = create::RobotModel::CREATE_2;
  std::string port = "/dev/ttyUSB0";
  int baud = 115200;
  if (argc > 1 && std::string(argv[1]) == "create1") {
    model = create::RobotModel::CREATE_1;
    baud = 57600;
    std::cout << "Running driver for Create 1" << std::endl;
  }
  else {
    std::cout << "Running driver for Create 2" << std::endl;
  }

  // Construct robot object
  create::Create robot(model);

  // Connect to robot
  if (robot.connect(port, baud))
    std::cout << "Connected to robot" << std::endl;
  else {
    std::cout << "Failed to connect to robot on port " << port.c_str() << std::endl;
    return 1;
  }

  // Switch to Full mode
  robot.setMode(create::MODE_FULL);

  // Useful note defintions
  const uint8_t G = 55;
  const uint8_t AS = 58;
  const uint8_t DS = 51;
  const float half = 1.0f;
  const float quarter = 0.5f;
  const float dotted_eigth = 0.375f;
  const float sixteenth = 0.125f;

  // Define a song
  const uint8_t song_len = 9;
  const uint8_t notes[song_len] = { G, G, G, DS, AS, G, DS, AS, G };
  const float durations[song_len] = { quarter, quarter, quarter, dotted_eigth, sixteenth, quarter, dotted_eigth, sixteenth, half };
  robot.defineSong(0, song_len, notes, durations);

  // Sleep to provide time for song to register
  usleep(1000000);

  std::cout << "Playing a song!" << std::endl;

  // Request to play the song we just defined
  robot.playSong(0);

  // Expect the song to take about four seconds
  usleep(4500000);

  // Call disconnect to avoid leaving robot in Full mode
  robot.disconnect();

  return 0;
}