This repository contains all files used by Team 772 for the FIRST Tech Challenge. A majority of the files are RobotC source files, however there are other files for making music for the NXT.

All code is open source under the MIT License, see LICENSE for details. All of the music is copyright by its artist, simplified and reproduced here under fair use.

Below is a list of all of the files and their purposes.

• TeleOp.c: Tele-Operated mode program containing main drive and arm control functions
• Auto.h: Autonomous mode program containing the body of the autonomous code (used by the Auto folder)
• common.h: Contains various functions that are used by TeleOp.c and Auto.h
• constants.h: Contains constants calibrate the programs to the robot and the field

• Defence.c: Autonomous mode program that is designed to disrupt the opposing alliance
• EmerRamp.c: Autonomous mode program that drives off of the ramp and drages the medium rolling goal into the parking zone
• Kickstand.c: Autonomous mode program that detects the orientation of the center structure and knocks over the kickstand
• RampScore.c: Autonomous mode program that scores in the medium rolling goal and brings it back to the parking zone

• Player.c: Song selector and player with speed and volume controls
• Player.h: Song player library that can be used in other programs

• Makefile: A makefile for building the music compiler and compiling the music files into NXT music files
• make.bat: A build script that compiles music files on Windows using a prebuilt binary

• SuperMario.mus: Super Mario Bros. theme song
• ImperialMarch.mus: The Imperial March (Darth Vader's Theme)
• 1Up.mus: The 1-Up sound from Super Mario Bros.
• CastleComplete.mus: The level complete sound from Super Mario Bros.
• Starman.mus: The invincible sound from Super Mario Bros.

• StillAlive.nms: This was a triumph...

• Makefile: A makefile for building MusicCompiler
• MusicCompiler.c: The source file for a program that compiles music from .mus format to .nms for the NXT
• win32/MusicCompiler.exe: A prebuilt Windows binary of the program

There are two music formats that are used, one that is easy to type up and is easy for humans to read and one that is easy for the NXT to read without much processing overhead.

Music files are basically a form of typed sheet music, making it easy to write. They use the .mus extension and are compiled to an NXT music file that is easy for the NXT to read. The basic structure of a .mus file is as the following:

Test Song
#That is the name of the song
#These are comments
#Composer: Foster McLane
keysig C
tempo 120

#Play a C on the 4th octave for a value of 1 (the tempo)
note C4 1
#Play an E
note E4 1
#Play a G
note G4 1
#Play a C on the 5th octave
note C5 1
#Go back down
note G4 1
note E4 1
note C4 2

#Wait for a whole rest (four times the value of the tempo)
rest 4

#Play four eigth notes (half of the value of the tempo)
note C4 0.5
note C4 0.5
note D4 0.5
note D4 0.5
#Play two staccato quarter notes (the value of the tempo)
note E4 1 staccato
note F4 1 staccato
#Play two legato quarter notes
note E4 1 legato
note D4 1 legato
#Finish it
note C4 2

NXT music files are in a relatively simple format with both a tone and lyric engine. They use the .nms extension on the NXT and can be played by the Player program. The basic structure of a .nms file is as the following:

Test Song
#That is the name of the song
#These are comments
#Composer: Foster McLane

#Play a C for 20 out of 24 centiseconds
tone 262 20 24
#Play a E
tone 330 20 24
#Play a G
tone 392 20 24
#Play a high C
tone 523 20 24
#Go back down
tone 392 20 24
tone 330 20 24
tone 262 40 48