MRK-1 Robot Piezo Buzzer Test/Music Code

The Piezo Buzzer on your MRK-1 robot, doesn’t just click and buzz, you can easily program it to play music! It won’t sound like the philharmonic, but it does have a nice nostalgic gaming sound that can bring a new dimension to a robot battle, or your custom robot project!

In the photo on the left, the buzzer can be easily seen, as the round black object to the right of the two ports attached to the mother board. Normally, the right port will have your ultrasonic sensor “the eyes” plugged in which will obscure your ability to see the buzzer.

Below is a sketch that will play the various musical themes from one of our favorite video game franchises: Mario (World, Galaxy, etc…). Its a good template to Cut/Copy/Paste into your own musical sketch needs!

It defines a pair of integer arrays (melody and tempo), that contain the series of pitches and tempos defining each melody. You’ll notice that the melody array references notes (G7, F5, etc..instead of numerical frequencies) which the compiler will understand because of the #include command for the <Pitches.h> library which you will need to make sure you’ve imported into your sketch. If you want to test it as is, you’ll need to “uncomment” (remove the //) from the beginning of at least one of the sing function calls in the main loop (void loop()).

#include <Pitches.h>
#define melodyPin 5
//Mario main theme melody
int melody[] = {
NOTE_E7, NOTE_E7, 0, NOTE_E7,
0, NOTE_C7, NOTE_E7, 0,
NOTE_G7, 0, 0, 0,
NOTE_G6, 0, 0, 0,

NOTE_C7, 0, 0, NOTE_G6,
0, 0, NOTE_E6, 0,
0, NOTE_A6, 0, NOTE_B6,
0, NOTE_AS6, NOTE_A6, 0,

NOTE_G6, NOTE_E7, NOTE_G7,
NOTE_A7, 0, NOTE_F7, NOTE_G7,
0, NOTE_E7, 0,NOTE_C7,
NOTE_D7, NOTE_B6, 0, 0,

NOTE_C7, 0, 0, NOTE_G6,
0, 0, NOTE_E6, 0,
0, NOTE_A6, 0, NOTE_B6,
0, NOTE_AS6, NOTE_A6, 0,

NOTE_G6, NOTE_E7, NOTE_G7,
NOTE_A7, 0, NOTE_F7, NOTE_G7,
0, NOTE_E7, 0,NOTE_C7,
NOTE_D7, NOTE_B6, 0, 0
};
//Mario main them tempo
int tempo[] = {
12, 12, 12, 12,
12, 12, 12, 12,
12, 12, 12, 12,
12, 12, 12, 12,

12, 12, 12, 12,
12, 12, 12, 12,
12, 12, 12, 12,
12, 12, 12, 12,

9, 9, 9,
12, 12, 12, 12,
12, 12, 12, 12,
12, 12, 12, 12,

12, 12, 12, 12,
12, 12, 12, 12,
12, 12, 12, 12,
12, 12, 12, 12,

9, 9, 9,
12, 12, 12, 12,
12, 12, 12, 12,
12, 12, 12, 12,
};

//Underworld melody
int underworld_melody[] = {
NOTE_C4, NOTE_C5, NOTE_A3, NOTE_A4,
NOTE_AS3, NOTE_AS4, 0,
0,
NOTE_C4, NOTE_C5, NOTE_A3, NOTE_A4,
NOTE_AS3, NOTE_AS4, 0,
0,
NOTE_F3, NOTE_F4, NOTE_D3, NOTE_D4,
NOTE_DS3, NOTE_DS4, 0,
0,
NOTE_F3, NOTE_F4, NOTE_D3, NOTE_D4,
NOTE_DS3, NOTE_DS4, 0,
0, NOTE_DS4, NOTE_CS4, NOTE_D4,
NOTE_CS4, NOTE_DS4,
NOTE_DS4, NOTE_GS3,
NOTE_G3, NOTE_CS4,
NOTE_C4, NOTE_FS4,NOTE_F4, NOTE_E3, NOTE_AS4, NOTE_A4,
NOTE_GS4, NOTE_DS4, NOTE_B3,
NOTE_AS3, NOTE_A3, NOTE_GS3,
0, 0, 0
};
//Underwolrd tempo
int underworld_tempo[] = {
12, 12, 12, 12,
12, 12, 6,
3,
12, 12, 12, 12,
12, 12, 6,
3,
12, 12, 12, 12,
12, 12, 6,
3,
12, 12, 12, 12,
12, 12, 6,
6, 18, 18, 18,
6, 6,
6, 6,
6, 6,
18, 18, 18,18, 18, 18,
10, 10, 10,
10, 10, 10,
3, 3, 3
};

void setup(void)
{

Serial.begin(9600);
tone(5, 1400, 1000);
pinMode(3, OUTPUT);//buzzer
pinMode(13, OUTPUT);//led indicator when singing a note
sing(1);
}
void loop()
{
//sing the tunes
Serial.println(“Void loop”);

//sing(1);
//sing(2);
}
int song = 0;

void sing(int s){
// iterate over the notes of the melody:
song = s;
if(song==2){
Serial.println(” ‘Underworld Theme'”);
int size = sizeof(underworld_melody) / sizeof(int);
for (int thisNote = 0; thisNote < size; thisNote++) {

// to calculate the note duration, take one second
// divided by the note type.
//e.g. quarter note = 1000 / 4, eighth note = 1000/8, etc.
int noteDuration = 1000/underworld_tempo[thisNote];

buzz(melodyPin, underworld_melody[thisNote],noteDuration);

// to distinguish the notes, set a minimum time between them.
// the note’s duration + 30% seems to work well:
int pauseBetweenNotes = noteDuration * 1.30;
delay(pauseBetweenNotes);

// stop the tone playing:
buzz(melodyPin, 0,noteDuration);

}

}else{

Serial.println(” ‘Mario Theme'”);
//int size = sizeof(melody) / sizeof(int);
int size = 1000;
for (int thisNote = 0; thisNote < size; thisNote++) {

// to calculate the note duration, take one second
// divided by the note type.
//e.g. quarter note = 1000 / 4, eighth note = 1000/8, etc.
int noteDuration = 1000/tempo[thisNote];

buzz(melodyPin, melody[thisNote],noteDuration);

// to distinguish the notes, set a minimum time between them.
// the note’s duration + 30% seems to work well:
int pauseBetweenNotes = noteDuration * 1.30;
delay(pauseBetweenNotes);

// stop the tone playing:
buzz(melodyPin, 0,noteDuration);

}
}
}

void buzz(int targetPin, long frequency, long length) {
digitalWrite(13,HIGH);
long delayValue = 1000000/frequency/2; // calculate the delay value between transitions
//// 1 second’s worth of microseconds, divided by the frequency, then split in half since
//// there are two phases to each cycle
long numCycles = frequency * length/ 1000; // calculate the number of cycles for proper timing
//// multiply frequency, which is really cycles per second, by the number of seconds to
//// get the total number of cycles to produce
for (long i=0; i < numCycles; i++){ // for the calculated length of time…
digitalWrite(targetPin,HIGH); // write the buzzer pin high to push out the diaphram
delayMicroseconds(delayValue); // wait for the calculated delay value
digitalWrite(targetPin,LOW); // write the buzzer pin low to pull back the diaphram
delayMicroseconds(delayValue); // wait again or the calculated delay value
}
digitalWrite(13,LOW);

}