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if we have a scheduled mouthActionTime in the future

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 #include MX1508 bodyMotor(6, 9); // Sets up an MX1508 controlled motor on PWM pins 6 and 9 MX1508 mouthMotor(5, 3); // Sets up an MX1508 controlled motor on PWM pins 5 and 3 int soundPin = A0; // Sound input int silence = 12; // Threshold for "silence". Anything below this level is ignored. int bodySpeed = 0; // body motor speed initialized to 0 int soundVolume = 0; // variable to hold the analog audio value int fishState = 0; // variable to indicate the state Billy is in bool talking = false; //indicates whether the fish should be talking or not

//these variables are for storing the current time, scheduling times for actions to end, and when the action took place long currentTime; long mouthActionTime; long bodyActionTime; long lastActionTime; void setup() { //make sure both motor speeds are set to zero bodyMotor.setSpeed(0); mouthMotor.setSpeed(0); //input mode for sound pin pinMode(soundPin, INPUT); Serial.begin(9600); } void loop() { currentTime = millis(); //updates the time each time the loop is run updateSoundInput(); //updates the volume level detected SMBillyBass(); //this is the switch/case statement to control the state of the fish } void SMBillyBass() { switch (fishState) { case 0: //START & WAITING if (soundVolume > silence) { //if we detect audio input above the threshold if (currentTime > mouthActionTime) { //and if we haven't yet scheduled a mouth movement talking = true; // set talking to true and schedule the mouth movement action mouthActionTime = currentTime + 100; fishState = 1; // jump to a talking state } } else if (currentTime > mouthActionTime + 100) { //if we're beyond the scheduled talking time, halt the motors bodyMotor.halt(); mouthMotor.halt(); } if (currentTime - lastActionTime > 1500) { //if Billy hasn't done anything in a while, we need to show he's bored lastActionTime = currentTime + floor(random(30, 60)) * 1000L; //you can adjust the numbers here to change how often he flaps fishState = 2; //jump to a flapping state! } break; case

1: //TALKING if (currentTime < mouthActionTime) { //if we have a scheduled mouthActionTime in the future.... if (talking) { // and if we think we should be talking openMouth(); // then open the mouth and articulate the body lastActionTime = currentTime; articulateBody(true); } } else { // otherwise, close the mouth, don't articulate the body, and set talking to false closeMouth(); articulateBody(false); talking = false; fishState = 0; //jump back to waiting state } break; case 2: //GOTTA FLAP! //Serial.println("I'm bored. Gotta flap."); flap(); fishState = 0; break; } } int updateSoundInput() { soundVolume = analogRead(soundPin); } void openMouth() { mouthMotor.halt(); //stop the mouth motor mouthMotor.setSpeed(220); //set the mouth motor speed mouthMotor.forward(); //open the mouth } void closeMouth() { mouthMotor.halt(); //stop the mouth motor mouthMotor.setSpeed(180); //set the mouth motor speed mouthMotor.backward(); // close the mouth } void articulateBody(bool talking) { //function for articulating the body if (talking) { //if Billy is talking if (currentTime > bodyActionTime) { // and if we don't have a scheduled body movement int r = floor(random(0, 8)); // create a random number between 0 and 7) if (r < 1) { bodySpeed = 0;

// don't move the body bodyActionTime = currentTime + floor(random(500, 1000)); //schedule body action for .5 to 1 seconds from current time bodyMotor.forward(); //move the body motor to raise the head } else if (r < 3) { bodySpeed = 150; //move the body slowly bodyActionTime = currentTime + floor(random(500, 1000)); //schedule body action for .5 to 1 seconds from current time bodyMotor.forward(); //move the body motor to raise the head } else if (r == 4) { bodySpeed = 200; // move the body medium speed bodyActionTime = currentTime + floor(random(500, 1000)); //schedule body action for .5 to 1 seconds from current time bodyMotor.forward(); //move the body motor to raise the head } else if ( r == 5 ) { bodySpeed = 0; //set body motor speed to 0 bodyMotor.halt(); //stop the body motor (to keep from violent sudden direction changes) bodyMotor.setSpeed(255); //set the body motor to full speed bodyMotor.backward(); //move the body motor to raise the tail bodyActionTime = currentTime + floor(random(900, 1200)); //schedule body action for .9 to 1.2 seconds from current time }

else { bodySpeed = 255; // move the body full speed bodyMotor.forward(); //move the body motor to raise the head bodyActionTime = currentTime + floor(random(1500, 3000)); //schedule action time for 1.5 to 3.0 seconds from current time } } bodyMotor.setSpeed(bodySpeed); //set the body motor speed } else { if (currentTime > bodyActionTime) { //if we're beyond the scheduled body action time bodyMotor.halt(); //stop the body motor bodyActionTime = currentTime + floor(random(20, 50)); //set the next scheduled body action to current time plus .02 to .05 seconds } } } void flap() { bodyMotor.setSpeed(185); bodyMotor.backward(); //move the body motor to raise the tail delay(500); //wait a bit, for dramatic effect bodyMotor.halt(); //halt the motor }

 

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