Page 180 - Hacking Roomba

Chapter 8 — Making Roomba Sing 161

Listing 8-4 Continued

roombacomm.pause(50);

ArrayList notelist = RTTTLParser.parse(rtttl);
int songsize = notelist.size();
// if within the size of a roomba song, make the song, then
play
if( songsize <= 16 ) {
println(“creating a song with createSong()”);
int notearray[] = new int[songsize*2];
int j=0;
for( int i=0; i< songsize; i++ ) {
Note note = (Note) notelist.get(i);
int sec64ths = note.duration * 64/1000;
notearray[j++] = note.notenum;
notearray[j++] = sec64ths;
}
roombacomm.createSong(1, notearray);
roombacomm.playSong(1);
}
// otherwise, try to play it in realtime
else {
println(“playing song in realtime with playNote()”);
int fudge = 20;
for( int i=0; i< songsize; i++ ) {
Note note = (Note) notelist.get(i);
int duration = note.duration;
int sec64ths = duration*64/1000;
if( sec64ths < 5 ) sec64ths = 5;
if( note.notenum != 0 )
roombacomm.playNote(note.notenum, sec64ths);
roombacomm.pause(duration + fudge);
}
}
System.out.println(“Disconnecting”);
roombacomm.disconnect();

RoombaMidi: Roomba as MIDI Instrument

If you have a MIDI keyboard or a MIDI sequencer and you want to use Roomba as a MIDI
instrument, that’s possible too. As mentioned earlier, Java provides a basic MIDI API, but it
isn’t well-developed across platforms. Fortunately Mac OS X does provide Java wrappers to its
entire Core MIDI C language API, making programming MIDI applications in Java possible.
Because of Core MIDI, these Java applications appear as just another MIDI device to other