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Merge pull request #104 from ut-ras/better-sounds
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Bigger, better sounds
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@calebchalmers
calebchalmers authored Apr 17, 2024
2 parents f3d6837 + d2a70d7 commit 2c11325
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Showing 14 changed files with 1,878 additions and 290 deletions.
56 changes: 42 additions & 14 deletions ut-robomaster/src/subsystems/sound/command_play_sound.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -5,31 +5,59 @@ namespace commands

void CommandPlaySound::initialize()
{
timer.restart();
subsystem->setBuzzerFrequency(sound.notes[0]);
timer.restart(0);
read_index = 0;
}

void CommandPlaySound::execute()
{
if (timer.execute() && ++note < sound.note_count)
if (read_index >= sound.data_length)
{
uint16_t freq = sound.notes[note];
if (!loop) return;
read_index -= sound.data_length;
}

if (timer.execute())
{
timer.restart(sound.note_interval);

uint8_t data = sound.data[read_index];
bool is_repeating = data > 127;

if (freq != sound.notes[note - 1]) // only update if the note changed
if (is_repeating)
{
if (freq > 0.0f)
{
subsystem->setBuzzerFrequency(freq);
}
else
{
subsystem->silence(); // silence also kills the duty cycle
}
playNote(data - (1 << 7));
int reps = sound.data[read_index + 1];
timer.restart(sound.note_interval * (reps + 1));
read_index += 2;
}
else
{
playNote(data);
timer.restart(sound.note_interval);
read_index++;
}
}
}

void CommandPlaySound::end(bool) { subsystem->silence(); }
bool CommandPlaySound::isFinished() const { return note >= sound.note_count; }
bool CommandPlaySound::isFinished() const
{
return read_index >= sound.data_length && timer.isExpired();
}

void CommandPlaySound::playNote(uint8_t note)
{
if (note > 0.0f)
{
// +1 octave adjustment for onlinesequencer.net
uint32_t freq = 440.0f * powf(2.0f, (note - 69.0f) / 12.0f + 1.0f);
subsystem->setBuzzerFrequency(freq);
}
else
{
subsystem->silence(); // silence also kills the duty cycle
}
}

} // namespace commands
20 changes: 14 additions & 6 deletions ut-robomaster/src/subsystems/sound/command_play_sound.hpp
View file
Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
#pragma once

#include "tap/architecture/periodic_timer.hpp"
#include "tap/architecture/timeout.hpp"
#include "tap/communication/sensors/buzzer/buzzer.hpp"
#include "tap/control/command.hpp"

Expand All @@ -12,16 +12,21 @@ namespace commands
{

using subsystems::sound::SoundSubsystem;
using tap::arch::PeriodicMilliTimer;
using tap::arch::MilliTimeout;

class CommandPlaySound : public tap::control::Command
{
public:
CommandPlaySound(src::Drivers *drivers, SoundSubsystem *subsystem, Sound sound)
CommandPlaySound(
src::Drivers *drivers,
SoundSubsystem *subsystem,
Sound sound,
bool loop = false)
: drivers(drivers),
subsystem(subsystem),
sound(sound),
timer(sound.note_interval)
loop(loop),
timer()
{
addSubsystemRequirement(subsystem);
}
Expand All @@ -37,11 +42,14 @@ class CommandPlaySound : public tap::control::Command
const char *getName() const override { return "play sound command"; }

private:
void playNote(uint8_t note);

src::Drivers *drivers;
SoundSubsystem *subsystem;
Sound sound;

uint16_t note = 0;
PeriodicMilliTimer timer;
int read_index = 0;
bool loop = false;
MilliTimeout timer;
}; // class CommandPlaySound
} // namespace commands
4 changes: 2 additions & 2 deletions ut-robomaster/src/subsystems/sound/sound.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@

struct Sound
{
uint16_t note_count;
uint16_t data_length;
uint16_t note_interval;
uint16_t* notes;
uint8_t* data;
};
165 changes: 52 additions & 113 deletions ut-robomaster/src/subsystems/sound/sounds/sound_acz_zero.hpp
View file
Original file line number Diff line number Diff line change
@@ -1,117 +1,56 @@
#include "../sound.hpp"

const Sound SOUND_ACZ_ZERO{
1662,
896,
36,
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(uint8_t[]){
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128, 3, 212, 2, 128, 3, 211, 2, 209, 3, 211, 2, 128, 2, 208, 3, 128, 2,
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128, 3, 212, 2, 211, 2, 212, 3, 128, 2, 211, 3, 128, 2, 209, 9, 211, 3,
212, 2, 128, 3, 214, 2, 128, 3, 212, 2, 128, 2, 214, 2}};
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