Robot bípedo baila Astronomía

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Materiales

  • Arduino nano.
  • Shield Arduino Nano
  • 4 servomotores sg90
  • Chasis robot (DESCARGAR)
  • 2 baterias de 3.7 v

APLICACIÓN MÓVIL

DESCARGAR

CÓDIGO ARDUINO

#include <Servo.h>
 const float  note_C0 = 16.35;  //C0
const float  note_Db0 = 17.32;  //C#0/Db0
const float  note_D0 = 18.35;  //D0
const float  note_Eb0 = 19.45;  //D#0/Eb0
const float  note_E0 = 20.6;  //E0
const float  note_F0 = 21.83;  //F0
const float  note_Gb0 = 23.12;  //F#0/Gb0
const float  note_G0 = 24.5;  //G0
const float  note_Ab0 = 25.96;  //G#0/Ab0
const float  note_A0 = 27.5;  //A0
const float  note_Bb0 = 29.14;  //A#0/Bb0
const float  note_B0 = 30.87;  //B0
const float  note_C1 = 32.7;  //C1
const float  note_Db1 = 34.65;  //C#1/Db1
const float  note_D1 = 36.71;  //D1
const float  note_Eb1 = 38.89;  //D#1/Eb1
const float  note_E1 = 41.2;  //E1
const float  note_F1 = 43.65;  //F1
const float  note_Gb1 = 46.25;  //F#1/Gb1
const float  note_G1 = 49;  //G1
const float  note_Ab1 = 51.91;  //G#1/Ab1
const float  note_A1 = 55;  //A1
const float  note_Bb1 = 58.27;  //A#1/Bb1
const float  note_B1 = 61.74;  //B1
const float  note_C2 = 65.41;  //C2 (Middle C)
const float  note_Db2 = 69.3;  //C#2/Db2
const float  note_D2 = 73.42;  //D2
const float  note_Eb2 = 77.78;  //D#2/Eb2
const float  note_E2 = 82.41;  //E2
const float  note_F2 = 87.31;  //F2
const float  note_Gb2 = 92.5;  //F#2/Gb2
const float  note_G2 = 98;  //G2
const float  note_Ab2 = 103.83;  //G#2/Ab2
const float  note_A2 = 110;  //A2
const float  note_Bb2 = 116.54;  //A#2/Bb2
const float  note_B2 = 123.47;  //B2
const float  note_C3 = 130.81;  //C3
const float  note_Db3 = 138.59;  //C#3/Db3
const float  note_D3 = 146.83;  //D3
const float  note_Eb3 = 155.56;  //D#3/Eb3
const float  note_E3 = 164.81;  //E3
const float  note_F3 = 174.61;  //F3
const float  note_Gb3 = 185;  //F#3/Gb3
const float  note_G3 = 196;  //G3
const float  note_Ab3 = 207.65;  //G#3/Ab3
const float  note_A3 = 220;  //A3
const float  note_Bb3 = 233.08;  //A#3/Bb3
const float  note_B3 = 246.94;  //B3
const float  note_C4 = 261.63;  //C4
const float  note_Db4 = 277.18;  //C#4/Db4
const float  note_D4 = 293.66;  //D4
const float  note_Eb4 = 311.13;  //D#4/Eb4
const float  note_E4 = 329.63;  //E4
const float  note_F4 = 349.23;  //F4
const float  note_Gb4 = 369.99;  //F#4/Gb4
const float  note_G4 = 392;  //G4
const float  note_Ab4 = 415.3;  //G#4/Ab4
const float  note_A4 = 440;  //A4
const float  note_Bb4 = 466.16;  //A#4/Bb4
const float  note_B4 = 493.88;  //B4
const float  note_C5 = 523.25;  //C5
const float  note_Db5 = 554.37;  //C#5/Db5
const float  note_D5 = 587.33;  //D5
const float  note_Eb5 = 622.25;  //D#5/Eb5
const float  note_E5 = 659.26;  //E5
const float  note_F5 = 698.46;  //F5
const float  note_Gb5 = 739.99;  //F#5/Gb5
const float  note_G5 = 783.99;  //G5
const float  note_Ab5 = 830.61;  //G#5/Ab5
const float  note_A5 = 880;  //A5
const float  note_Bb5 = 932.33;  //A#5/Bb5
const float  note_B5 = 987.77;  //B5
const float  note_C6 = 1046.5;  //C6
const float  note_Db6 = 1108.73;  //C#6/Db6
const float  note_D6 = 1174.66;  //D6
const float  note_Eb6 = 1244.51;  //D#6/Eb6
const float  note_E6 = 1318.51;  //E6
const float  note_F6 = 1396.91;  //F6
const float  note_Gb6 = 1479.98;  //F#6/Gb6
const float  note_G6 = 1567.98;  //G6
const float  note_Ab6 = 1661.22;  //G#6/Ab6
const float  note_A6 = 1760;  //A6
const float  note_Bb6 = 1864.66;  //A#6/Bb6
const float  note_B6 = 1975.53;  //B6
const float  note_C7 = 2093;  //C7
const float  note_Db7 = 2217.46;  //C#7/Db7
const float  note_D7 = 2349.32;  //D7
const float  note_Eb7 = 2489.02;  //D#7/Eb7
const float  note_E7 = 2637.02;  //E7
const float  note_F7 = 2793.83;  //F7
const float  note_Gb7 = 2959.96;  //F#7/Gb7
const float  note_G7 = 3135.96;  //G7
const float  note_Ab7 = 3322.44;  //G#7/Ab7
const float  note_A7 = 3520;  //A7
const float  note_Bb7 = 3729.31;  //A#7/Bb7
const float  note_B7 = 3951.07;  //B7
const float  note_C8 = 4186.01;  //C8
const float  note_Db8 = 4434.92;  //C#8/Db8
const float  note_D8 = 4698.64;  //D8
const float  note_Eb8 = 4978.03;  //D#8/Eb8

#define NOTE_B0  31
#define NOTE_C1  33
#define NOTE_CS1 35
#define NOTE_D1  37
#define NOTE_DS1 39
#define NOTE_E1  41
#define NOTE_F1  44
#define NOTE_FS1 46
#define NOTE_G1  49
#define NOTE_GS1 52
#define NOTE_A1  55
#define NOTE_AS1 58
#define NOTE_B1  62
#define NOTE_C2  65
#define NOTE_CS2 69
#define NOTE_D2  73
#define NOTE_DS2 78
#define NOTE_E2  82
#define NOTE_F2  87
#define NOTE_FS2 93
#define NOTE_G2  98
#define NOTE_GS2 104
#define NOTE_A2  110
#define NOTE_AS2 117
#define NOTE_B2  123
#define NOTE_C3  131
#define NOTE_CS3 139
#define NOTE_D3  147
#define NOTE_DS3 156
#define NOTE_E3  165
#define NOTE_F3  175
#define NOTE_FS3 185
#define NOTE_G3  196
#define NOTE_GS3 208
#define NOTE_A3  220
#define NOTE_AS3 233
#define NOTE_B3  247
#define NOTE_C4  262
#define NOTE_CS4 277
#define NOTE_D4  294
#define NOTE_DS4 311
#define NOTE_E4  330
#define NOTE_F4  349
#define NOTE_FS4 370
#define NOTE_G4  392
#define NOTE_GS4 415
#define NOTE_A4  440
#define NOTE_AS4 466
#define NOTE_B4  494
#define NOTE_C5  523
#define NOTE_CS5 554
#define NOTE_D5  587
#define NOTE_DS5 622
#define NOTE_E5  659
#define NOTE_F5  698
#define NOTE_FS5 740
#define NOTE_G5  784
#define NOTE_GS5 831
#define NOTE_A5  880
#define NOTE_AS5 932
#define NOTE_B5  988
#define NOTE_C6  1047
#define NOTE_CS6 1109
#define NOTE_D6  1175
#define NOTE_DS6 1245
#define NOTE_E6  1319
#define NOTE_F6  1397
#define NOTE_FS6 1480
#define NOTE_G6  1568
#define NOTE_GS6 1661
#define NOTE_A6  1760
#define NOTE_AS6 1865
#define NOTE_B6  1976
#define NOTE_C7  2093
#define NOTE_CS7 2217
#define NOTE_D7  2349
#define NOTE_DS7 2489
#define NOTE_E7  2637
#define NOTE_F7  2794
#define NOTE_FS7 2960
#define NOTE_G7  3136
#define NOTE_GS7 3322
#define NOTE_A7  3520
#define NOTE_AS7 3729
#define NOTE_B7  3951
#define NOTE_C8  4186
#define NOTE_CS8 4435
#define NOTE_D8  4699
#define NOTE_DS8 4978
int melody[] = {
  NOTE_AS4, NOTE_AS4, NOTE_AS4, NOTE_AS4,
  NOTE_AS4, NOTE_AS4, NOTE_AS4, NOTE_AS4,
  NOTE_AS4, NOTE_AS4, NOTE_AS4, NOTE_AS4,
  NOTE_AS4, NOTE_AS4, NOTE_AS4, NOTE_AS4,
  NOTE_AS4, NOTE_AS4, NOTE_AS4, NOTE_AS4,
  NOTE_D5, NOTE_D5, NOTE_D5, NOTE_D5,
  NOTE_C5, NOTE_C5, NOTE_C5, NOTE_C5, 
  NOTE_F5, NOTE_F5, NOTE_F5, NOTE_F5, 
  NOTE_G5, NOTE_G5, NOTE_G5, NOTE_G5,
  NOTE_G5, NOTE_G5, NOTE_G5, NOTE_G5, 
  NOTE_G5, NOTE_G5, NOTE_G5, NOTE_G5, 
  NOTE_C5, NOTE_AS4, NOTE_A4, NOTE_F4,
  NOTE_G4, 0, NOTE_G4, NOTE_D5,
  NOTE_C5, 0, NOTE_AS4, 0,
  NOTE_A4, 0, NOTE_A4, NOTE_A4,
  NOTE_C5, 0, NOTE_AS4, NOTE_A4, 
  NOTE_G4,0, NOTE_G4, NOTE_AS5,
  NOTE_A5, NOTE_AS5, NOTE_A5, NOTE_AS5,
  NOTE_G4,0, NOTE_G4, NOTE_AS5,
  NOTE_A5, NOTE_AS5, NOTE_A5, NOTE_AS5,
  NOTE_G4, 0, NOTE_G4, NOTE_D5,
  NOTE_C5, 0, NOTE_AS4, 0,
  NOTE_A4, 0, NOTE_A4, NOTE_A4,
  NOTE_C5, 0, NOTE_AS4, NOTE_A4, 
  NOTE_G4,0, NOTE_G4, NOTE_AS5,
  NOTE_A5, NOTE_AS5, NOTE_A5, NOTE_AS5,
  NOTE_G4,0, NOTE_G4, NOTE_AS5,
  NOTE_A5, NOTE_AS5, NOTE_A5, NOTE_AS5
 };
 int noteDurations[] = {
  4,4,4,4,
  4,4,4,4,
  4,4,4,4,
  4,4,4,4,
  4,4,4,4,
  4,4,4,4,
  4,4,4,4,
  4,4,4,4,
  4,4,4,4,
  4,4,4,4,
  4,4,4,4,
  4,4,4,4,
  4,4,4,4,
  4,4,4,4,
  4,4,4,4,
  4,4,4,4,
  4,4,4,4,
  4,4,4,4,
  4,4,4,4,
  4,4,4,4,
  4,4,4,4,
  4,4,4,4,
  4,4,4,4,
  4,4,4,4,
  4,4,4,4,
  4,4,4,4,
  4,4,4,4,
  4,4,4,4,
  };
  int cont=0;
  int speakerPin = 6;
const int Trigger = 8;   
const int Echo = 9;
int val1=84;//arriba derech
int val2=82;////arriba izq
int val4=98;
int val3=85;

int cam = 20;//30
int camizq = 25;
int vel=200;//200
int modo=0;
 
Servo servo,servo2,servo3,servo4; //Creamos un objeto Servo de nombre... servo
 
void setup()
{
   Serial.begin(9600); //Iniciamos el serial
    pinMode(Trigger, OUTPUT); //pin como salida
  pinMode(Echo, INPUT);  //pin como entrada
  digitalWrite(Trigger, LOW);//Inicializamos el pin con 0
   servo.attach(2);
   servo2.attach(3); //Conectamos el servo al pin digital 3
   servo3.attach(5);
   servo4.attach(4);
   pinMode(speakerPin, OUTPUT);
   
   servo.write(val1);
   servo2.write(val2);
   servo3.write(val3);
   servo4.write(val4);
   
}
 
void loop()
{
     if(Serial.available() > 0 ) //Detecta si hay alguna entrada por serial
   {
      modo=2;
      char val = Serial.read();
      if(val == 'a')
      {
         catcall();     
        adelante();  
       adelante(); 
       
          parar();       
      }
      if(val == 'b')
      {
        uhoh();
        izq();
        izq();
          
        parar();
        
      }
      if(val == 'c')
      {
        ohhh();
        parar();
      }
      if(val == 'd')
      { caer();
       }
      if(val == 'e')
      {          
        for(int x=0; x<3; x++)
        {
        atras(); 
         
        }
        parar();
      }
      if(val == 'v')
      {
         astronomia();
        
      }
      if(val == 'h')
      {
        //hablar
        r2D2();
        delay(500);
       
        
      }
      if(val == 't')
      {
        canta();
               
        
      }
      if(val == 'n')
      {
        //cual es tu nombre  
         r2D2();
        
      }
       if(val == 'q')
      {
        modo=1;
        
      }
   }
   if (modo==1){
  long t; //timepo que demora en llegar el eco
  long d; //distancia en centimetros

  digitalWrite(Trigger, HIGH);
  delayMicroseconds(10);          //Enviamos un pulso de 10us
  digitalWrite(Trigger, LOW);
  
 t = pulseIn(Echo, HIGH); //obtenemos el ancho del pulso
  d = t/59;             //escalamos el tiempo a una distancia en cm
  Serial.print("Distancia: ");
  Serial.print(d);      //Enviamos serialmente el valor de la distancia
  Serial.print("cm");
  Serial.println();
  if(d>15){
    adelante();
  }else{
    atras();
    atras();
    parar();
    izq();
    izq();
    izq();
    }
    
   } 
}
void caer(){
  servo4.write(val4+30);
      servo3.write(val3+30);
      uhoh();
      servo3.write(val3+60);
      delay(1000);
      servo3.write(val3+80);
  }
void adelante(){
  servo4.write(val4+cam);
      servo3.write(val3+cam);
      delay(vel);
      servo.write(val1-cam);
      servo2.write(val2-cam);
      delay(vel);
      servo4.write(val4);
      servo3.write(val3);
      delay(vel);

      servo4.write(val4-cam);
      servo3.write(val3-cam);
      delay(vel);
      servo.write(val1+cam);
      servo2.write(val2+cam);
      delay(vel);
      servo4.write(val4);
      servo3.write(val3);
      delay(vel);
     
  }
  void parar(){
    servo.write(val1);
   servo2.write(val2);
   servo3.write(val3);
   servo4.write(val4);
  }
void atras(){
      servo4.write(val4+cam);
      servo3.write(val3+cam);
      delay(vel);
      servo.write(val1+cam);
      servo2.write(val2+cam);
      delay(vel);
      servo4.write(val4);
      servo3.write(val3);
      delay(vel);

      servo4.write(val4-cam);
      servo3.write(val3-cam);
      delay(vel);
      servo.write(val1-cam);
      servo2.write(val2-cam);
      delay(vel);
      servo4.write(val4);
      servo3.write(val3);
      delay(vel);
  }
void izq(){
      servo4.write(val4+camizq);
      servo3.write(val3+camizq);
      delay(800);
      servo.write(val1-camizq);
      servo2.write(val2+camizq);
      delay(800);
      servo4.write(val4);
      servo3.write(val3);
      delay(800);

      servo4.write(val4-camizq);
      servo3.write(val3-camizq);
      delay(800);
      servo.write(val1+camizq);
      servo2.write(val2-camizq);
      delay(800);
      servo4.write(val4);
      servo3.write(val3);
      delay(800);

  }
  void beep (int speakerPin, float noteFrequency, long noteDuration)
{    
  int x;
  // Convert the frequency to microseconds
  float microsecondsPerWave = 1000000/noteFrequency;
  // Calculate how many HIGH/LOW cycles there are per millisecond
  float millisecondsPerCycle = 1000/(microsecondsPerWave * 2);
  // Multiply noteDuration * number or cycles per millisecond
  float loopTime = noteDuration * millisecondsPerCycle;
  // Play the note for the calculated loopTime.
  for (x=0;x<loopTime;x++)   
          {   
              digitalWrite(speakerPin,HIGH); 
              delayMicroseconds(microsecondsPerWave); 
              digitalWrite(speakerPin,LOW); 
              delayMicroseconds(microsecondsPerWave); 
          } 
}     
     


void r2D2(){
          beep(speakerPin, note_A7,100); //A 
          beep(speakerPin, note_G7,100); //G 
          beep(speakerPin, note_E7,100); //E 
          beep(speakerPin, note_C7,100); //C
          beep(speakerPin, note_D7,100); //D 
          beep(speakerPin, note_B7,100); //B 
          beep(speakerPin, note_F7,100); //F 
          beep(speakerPin, note_C8,100); //C 
          beep(speakerPin, note_A7,100); //A 
          beep(speakerPin, note_G7,100); //G 
          beep(speakerPin, note_E7,100); //E 
          beep(speakerPin, note_C7,100); //C
          beep(speakerPin, note_D7,100); //D 
          beep(speakerPin, note_B7,100); //B 
          beep(speakerPin, note_F7,100); //F 
          beep(speakerPin, note_C8,100); //C 
}
void catcall() {
  for (int i=1000; i<5000; i=i*1.05) {
    beep(speakerPin,i,10);
  }
 delay(300);
 
  for (int i=1000; i<3000; i=i*1.03) {
    beep(speakerPin,i,10);
  }
  for (int i=3000; i>1000; i=i*.97) {
    beep(speakerPin,i,10);
  }
}

void ohhh() {
  for (int i=1000; i<2000; i=i*1.02) {
    beep(speakerPin,i,10);
  }
  for (int i=2000; i>1000; i=i*.98) {
    beep(speakerPin,i,10);
  }
}

void uhoh() {
  for (int i=1000; i<1244; i=i*1.01) {
    beep(speakerPin,i,30);
  }
  delay(200);
  for (int i=1244; i>1108; i=i*.99) {
    beep(speakerPin,i,30);
  }
}
void astronomia(){
  
  for (int thisNote = 0; thisNote < 112; thisNote++) {

    int noteDuration = 750 / noteDurations[thisNote];
    tone(6, melody[thisNote], noteDuration);

    int pauseBetweenNotes = noteDuration * 1.30;
    delay(pauseBetweenNotes);
    if( thisNote<42){
      int va=(thisNote%6);
      paso1(va);
    }else if(thisNote<60&&thisNote>42){
      int va=(thisNote%6);
      paso2(va);
    }else if(thisNote>60&&thisNote<78){
      int va=(thisNote%6);
      paso3(va);
    
    }else if(thisNote<96&&thisNote>78){
      int va=(thisNote%6);
      paso2(va);
    }else if(thisNote>96){
      int va=(thisNote%6);
      paso3(va);
    }
    noTone(6);
  }
  }
void paso1(int paso){
  switch (paso)
  {
  case 1:
         servo.write(val1+2*cam);
      servo2.write(val2-2*cam);
  break;
  case 2:
      servo.write(val1);
      servo2.write(val2);
  break;
   case 3:
       servo.write(val1+2*cam);
      servo2.write(val2-2*cam);
  break;
  case 4:
      servo.write(val1);
      servo2.write(val2);
  break;
    case 5:
       servo4.write(val4-cam);
      servo3.write(val3+cam);
  break;
  case 0:
      servo4.write(val4);
      servo3.write(val3);
  break;
  }
}

  void paso2(int varr){
    switch (varr)
    {
    case 1:
     servo4.write(val4+cam);
      servo3.write(val3+cam);
    break;
      case 2:
      servo.write(val1-cam);
      servo2.write(val2-cam);
    break;
   case 3:
       servo4.write(val4);
      servo3.write(val3);
     break;
   case 4:
      servo4.write(val4-cam);
      servo3.write(val3-cam);
     break;
    case 5:
      servo.write(val1+cam);
      servo2.write(val2+cam);
     break;
     case 0:
      servo4.write(val4);
      servo3.write(val3);
    break;
  }
    
}
 void paso3(int varr){
    switch (varr)
    {
    case 1:
    servo4.write(val4+cam);
      servo3.write(val3+cam);
    break;
      case 2:
      servo.write(val1+cam);
      servo2.write(val2+cam);
    break;
   case 3:
       servo4.write(val4);
      servo3.write(val3);
     break;
   case 4:
      servo4.write(val4-cam);
      servo3.write(val3-cam);
     break;
    case 5:
      servo.write(val1-cam);
      servo2.write(val2-cam);
     break;
     case 0:
      servo4.write(val4);
      servo3.write(val3);
    break;
  }
    
    }
long microsecondsToCentimeters(long microseconds)
{
  // The speed of sound is 340 m/s or 29 microseconds per centimeter.
  // The ping travels out and back, so to find the distance of the
  // object we take half of the distance travelled.
  return microseconds / 29 / 2;
}
void canta(){
  tone(speakerPin,293.66,200);
  delay(200);
  tone(speakerPin,293.66,100);
  delay(100);
  tone(speakerPin,293.66,200);
  delay(200);
  tone(speakerPin,293.66,100);
  delay(100);
  tone(speakerPin,293.66,200);
  delay(200);
  tone(speakerPin,293.66,100);
  delay(100);
  tone(speakerPin,293.66,100);
  delay(100);
  tone(speakerPin,293.66,100);
  delay(100);
  tone(speakerPin,293.66,100);
  delay(100);
  tone(speakerPin,293.66,200);
  delay(200);
  tone(speakerPin,293.66,100);
  delay(100);
  tone(5,293.66,200);
  delay(200);
  tone(speakerPin,293.66,100);
  delay(100);
  tone(speakerPin,293.66,200);
  delay(200);
  tone(speakerPin,293.66,100);
  delay(100);
  tone(speakerPin,293.66,100);
  delay(100);
  tone(speakerPin,293.66,100);
  delay(100);
  tone(speakerPin,293.66,100);
  delay(100);
  tone(speakerPin,293.66,200);
  delay(200);
  tone(speakerPin,293.66,100);
  delay(100);
  tone(speakerPin,293.66,200);
  delay(200);
  tone(speakerPin,293.66,100);
  delay(100);
  tone(speakerPin,293.66,200);
  delay(200);
  tone(speakerPin,293.66,100);
  delay(100);
  tone(speakerPin,293.66,100);
  delay(100);
  tone(speakerPin,440,100);
  delay(100);
  tone(speakerPin,523.25,100);
  delay(100);
  tone(speakerPin,587.33,100);
  delay(200);
  tone(speakerPin,587.33,100);
  delay(200);
  tone(speakerPin,587.33,100);
  delay(100);
  tone(speakerPin,659.25,100);
  delay(100);
  tone(speakerPin,698.45,100);
  delay(200);
  tone(speakerPin,698.45,100);
  delay(200);
  tone(speakerPin,698.45,100);
  delay(100);
  tone(speakerPin,783.99,100);
  delay(100);
  tone(speakerPin,659.25,100);
  delay(200);
  tone(speakerPin,659.25,100);
  delay(200);
  tone(speakerPin,587.33,100);
  delay(100);
  tone(speakerPin,523.25,100);
  delay(100);
  tone(speakerPin,523.25,100);
  delay(100);
  tone(speakerPin,587.33,100);
  delay(300);
  tone(speakerPin,440,100);
  delay(100);
  tone(speakerPin,523.25,100);
  delay(100);
  tone(speakerPin,587.33,100);
  delay(200);
  tone(speakerPin,587.33,100);
  delay(200);
  tone(speakerPin,587.33,100);
  delay(100);
  tone(speakerPin,659.25,100);
  delay(100);
  tone(speakerPin,698.45,100);
  delay(200);
  tone(speakerPin,698.45,100);
  delay(200);
  tone(speakerPin,698.45,100);
  delay(100);
  tone(speakerPin,783.99,100);
  delay(100);
  tone(speakerPin,659.25,100);
  delay(200);
  tone(speakerPin,659.25,100);
  delay(200);
  tone(speakerPin,587.33,100);
  delay(100);
  tone(speakerPin,523.25,100);
  delay(100);
  tone(speakerPin,587.33,100);
  delay(400);
  tone(speakerPin,440,100);
  delay(100);
  tone(speakerPin,523.25,100);
  delay(100);
  tone(speakerPin,587.33,100);
  delay(200);
  tone(speakerPin,587.33,100);
  delay(200);
  tone(speakerPin,587.33,100);
  delay(100);
  tone(speakerPin,698.45,100);
  delay(100);
  tone(speakerPin,783.99,100);
  delay(200);
  tone(speakerPin,783.99,100);
  delay(200);
  tone(speakerPin,783.99,100);
  delay(100);
  tone(speakerPin,880,100);
  delay(100);
  tone(speakerPin,932.33,100);
  delay(200);
  tone(speakerPin,932.33,100);
  delay(200);
  tone(speakerPin,880,100);
  delay(100);
  tone(speakerPin,783.99,100);
  delay(100);
  tone(speakerPin,880,100);
  delay(100);
  tone(speakerPin,587.33,100);
  delay(300);
  tone(speakerPin,587.33,100);
  delay(100);
  tone(speakerPin,659.25,100);
  delay(100);
  tone(speakerPin,698.45,100);
  delay(200);
  tone(speakerPin,698.45,100);
  delay(200);
  tone(speakerPin,783.99,100);
  delay(200);
  tone(speakerPin,880,100);
  delay(100);
  tone(speakerPin,587.33,100);
  delay(300);
  tone(speakerPin,587.33,100);
  delay(100);
  tone(speakerPin,698.45,100);
  delay(100);
  tone(speakerPin,659.25,100);
  delay(200);
  tone(speakerPin,659.25,100);
  delay(200);
  tone(speakerPin,698.45,100);
  delay(100);
  tone(speakerPin,587.33,100);
  delay(100);
  tone(speakerPin,659.25,100);
  delay(400);
  tone(speakerPin,880,100);
  delay(100);
  tone(speakerPin,1046.50,100);
  delay(100);
  tone(speakerPin,1174.66,100);
  delay(200);
  tone(speakerPin,1174.66,100);
  delay(200);
  tone(speakerPin,1174.66,100);
  delay(100);
  tone(speakerPin,1318.51,100);
  delay(100);
  tone(speakerPin,1396.91,100);
  delay(200);
  tone(speakerPin,1396.91,100);
  delay(200);
  tone(speakerPin,1396.91,100);
  delay(100);
  tone(speakerPin,1567.98,100);
  delay(100);
  tone(speakerPin,1318.51,100);
  delay(200);
  tone(speakerPin,1318.51,100);
  delay(200);
  tone(speakerPin,1174.66,100);
  delay(100);
  tone(speakerPin,1046.50,100);
  delay(100);
  tone(speakerPin,1046.50,100);
  delay(100);
  tone(speakerPin,1174.66,100);
  delay(300);
  tone(speakerPin,880,100);
  delay(100);
  tone(speakerPin,1046.50,100);
  delay(100);
  tone(speakerPin,1174.66,100);
  delay(200);
  tone(speakerPin,1174.66,100);
  delay(200);
  tone(speakerPin,1174.66,100);
  delay(100);
  tone(speakerPin,1318.51,100);
  delay(100);
  tone(speakerPin,1396.91,100);
  delay(200);
  tone(speakerPin,1396.91,100);
  delay(200);
  tone(speakerPin,1396.91,100);
  delay(100);
  tone(speakerPin,1567.98,100);
  delay(100);
  tone(speakerPin,1318.51,100);
  delay(200);
  tone(speakerPin,1318.51,100);
  delay(200);
  tone(speakerPin,1174.66,100);
  delay(100);
  tone(speakerPin,1046.50,100);
  delay(100);
  tone(speakerPin,1174.66,100);
  delay(400);
  tone(speakerPin,880,100);
  delay(100);
  tone(speakerPin,1046.50,100);
  delay(100);
  tone(speakerPin,1174.66,100);
  delay(200);
  tone(speakerPin,1174.66,100);
  delay(200);
  tone(speakerPin,1174.66,100);
  delay(100);
  tone(speakerPin,1396.91,100);
  delay(100);
  tone(speakerPin,1567.98,100);
  delay(200);
  tone(speakerPin,1567.98,100);
  delay(200);
  tone(speakerPin,1567.98,100);
  delay(100);
  tone(speakerPin,1760,100);
  delay(100);
  tone(speakerPin,1864.66,100);
  delay(200);
  tone(speakerPin,1864.66,100);
  delay(200);
  tone(speakerPin,1760,100);
  delay(100);
  tone(speakerPin,1567.98,100);
  delay(100);
  tone(speakerPin,1760,100);
  delay(100);
  tone(speakerPin,1174.66,100);
  delay(300);
  tone(speakerPin,1174.66,100);
  delay(100);
  tone(speakerPin,1318.51,100);
  delay(100);
  tone(speakerPin,1396.91,100);
  delay(200);
  tone(speakerPin,1396.91,100);
  delay(200);
  tone(speakerPin,1567.98,100);
  delay(200);
  tone(speakerPin,1760,100);
  delay(100);
  tone(speakerPin,1174.66,100);
  delay(300);
  tone(speakerPin,1174.66,100);
  delay(100);
  tone(speakerPin,1396.91,100);
  delay(100);
  tone(speakerPin,1318.51,100);
  delay(200);
  tone(speakerPin,1318.51,100);
  delay(200);
  tone(speakerPin,1174.66,100);
  delay(100);
  tone(speakerPin,1108.73,100);
  delay(100);
  tone(speakerPin,1174.66,100);
  delay(200);
  tone(speakerPin,1174.66,100);
  delay(200);
  tone(speakerPin,1318.51,100);
  delay(200);
  tone(speakerPin,1396.91,100);
  delay(200);
  tone(speakerPin,1396.91,100);
  delay(100);
  tone(speakerPin,1396.91,100);
  delay(100);
  tone(speakerPin,1567.98,100);
  delay(200);
  tone(speakerPin,1760,300);
  delay(400);
  tone(speakerPin,1396.91,100);
  delay(100);
  tone(speakerPin,1174.66,100);
  delay(100);
  tone(speakerPin,880,300);
  delay(600);
  tone(speakerPin,1864.66,300);
  delay(400);
  tone(speakerPin,1396.91,100);
  delay(100);
  tone(speakerPin,1174.66,100);
  delay(100);
  tone(speakerPin,932.33,300);
  delay(600);
  tone(speakerPin,587.33,100);
  delay(100);
  tone(speakerPin,440,100);
  delay(200);
  tone(speakerPin,587.33,100);
  delay(300);
  tone(speakerPin,554.36,100);
  delay(400);
  tone(speakerPin,1567.98,100);
  delay(100);
  tone(speakerPin,1567.98,100);
  delay(100);
  
  }

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