【Arduino】スピーカーを使ってロボットの鳴き声を作る！

1#define HAPPY 1 //ハッピー
2#define ANGER 2 //怒り
3#define WAKEUP 3 //起きる
4
5const int PIN_MOTOR_L_A = 6;  //左モータA
6const int PIN_MOTOR_L_B = 9;  //左モータB
7const int PIN_MOTOR_R_A = 5;  //右モータA
8const int PIN_MOTOR_R_B = 3;  //右モータB
9const int PIN_BUTTON = 8;  //押しボタンスイッチ
10const int PIN_SPEAKER = 12;  //スピーカー
11const int BEAT = 200;
12
13void sing(int emotion) {
14  if (emotion == HAPPY) {
15    tone(PIN_SPEAKER,1760,BEAT / 2) ; // ラ
16    delay(BEAT / 2) ;
17    tone(PIN_SPEAKER,1976,BEAT / 2) ; // シ
18    delay(BEAT / 2) ;
19    tone(PIN_SPEAKER,1760,BEAT / 2) ; // ラ
20    delay(BEAT / 2) ;
21    tone(PIN_SPEAKER,1976,BEAT / 2) ; // シ
22    delay(BEAT / 2) ;
23  }
24  if (emotion == ANGER) {
25    tone(PIN_SPEAKER,247,BEAT / 2) ; // シ
26    delay(BEAT / 2) ;
27    tone(PIN_SPEAKER,247,BEAT / 2) ; // シ
28    delay(BEAT / 2) ;
29  }
30  if (emotion == WAKEUP) {
31    tone(PIN_SPEAKER,1047,BEAT) ; // ド
32    delay(BEAT) ;
33    tone(PIN_SPEAKER,1319,BEAT) ; // ミ
34    delay(BEAT) ;
35    tone(PIN_SPEAKER,1175,BEAT * 2) ; // レ
36    delay(BEAT * 2) ;
37  }
38}
39
40//前進
41void moveForward(int power, int duration) {
42  analogWrite(PIN_MOTOR_L_A, power);  //左A
43  analogWrite(PIN_MOTOR_L_B, 0);  //左B
44  analogWrite(PIN_MOTOR_R_A, power);  //右A
45  analogWrite(PIN_MOTOR_R_B, 0);  //右B
46  delay(duration);
47}
48
49//後退
50void moveBackward(int power, int duration) {
51  analogWrite(PIN_MOTOR_L_A, 0);  //左A
52  analogWrite(PIN_MOTOR_L_B, power);  //左B
53  analogWrite(PIN_MOTOR_R_A, 0);  //右A
54  analogWrite(PIN_MOTOR_R_B, power);  //右B
55  delay(duration);
56}
57
58//右旋回
59void turnRight(int power, int duration) {
60  analogWrite(PIN_MOTOR_L_A, power);  //左A
61  analogWrite(PIN_MOTOR_L_B, 0);  //左B
62  analogWrite(PIN_MOTOR_R_A, 0);  //右A
63  analogWrite(PIN_MOTOR_R_B, power);  //右B
64  delay(duration);
65}
66
67//左旋回
68void turnLeft(int power, int duration) {
69  analogWrite(PIN_MOTOR_L_A, 0);  //左A
70  analogWrite(PIN_MOTOR_L_B, power);  //左B
71  analogWrite(PIN_MOTOR_R_A, power);  //右A
72  analogWrite(PIN_MOTOR_R_B, 0);  //右B
73  delay(duration);
74}
75
76//ブレーキ
77void stopBreak(int duration) {
78  digitalWrite(PIN_MOTOR_L_A, LOW);  //左A
79  digitalWrite(PIN_MOTOR_L_B, LOW);  //左B
80  digitalWrite(PIN_MOTOR_R_A, LOW);  //右A
81  digitalWrite(PIN_MOTOR_R_B, LOW);  //右B
82  delay(duration);
83}
84
85//フリー
86void stopFree(int duration) {
87  digitalWrite(PIN_MOTOR_L_A, HIGH);  //左A
88  digitalWrite(PIN_MOTOR_L_B, HIGH);  //左B
89  digitalWrite(PIN_MOTOR_R_A, HIGH);  //右A
90  digitalWrite(PIN_MOTOR_R_B, HIGH);  //右B
91  delay(duration);
92}
93
94void setup() {
95  //ピンの出力(Output)or入力(Input)設定
96  pinMode(PIN_MOTOR_L_A, OUTPUT);  //左モータA
97  pinMode(PIN_MOTOR_L_B, OUTPUT);  //左モータB
98  pinMode(PIN_MOTOR_R_A, OUTPUT);  //右モータA
99  pinMode(PIN_MOTOR_R_B, OUTPUT);  //右モータB
100  pinMode(PIN_BUTTON, INPUT);  //スイッチ
101
102  sing(WAKEUP);  //起動完了の鳴き声
103  
104  //スタートボタンを押されるのを待つ
105  while(digitalRead(PIN_BUTTON)==0);
106  delay(1000);  //1秒待つ
107}
108
109void loop() {
110  int sensor_value;  //距離センサの値
111
112  sensor_value = analogRead(A0);  //センサの値を読み取る
113  if (sensor_value < 270) {
114    //270より小さい場合（遠い場合）
115    moveForward(255, 10);
116  } else {
117    stopBreak(500);
118    sing(ANGER);
119    moveBackward(127, 500);
120    turnRight(127, 500);
121    stopBreak(500);
122    sing(HAPPY);
123  }
124  
125}