Play the Imperial March with an IRobot Create, cloak and stormtroopers not required

imperial_march.py

import serial
import time

# this is the port you're connecting to the irobot with
# on windows, this is something like COM2
N = 2

def ints2str(lst):
    '''
    Taking a list of notes/lengths, convert it to a string
    '''
    s = ""
    for i in lst:
        if i < 0 or i > 255:
            raise Exception
        s = s + str(chr(i))
    return s

# do some initialization magic
s = serial.Serial(N, 57600, timeout=4)
print("sending start...")
s.write(ints2str([128]))
print("switch to full mode...")
s.write(ints2str([132]))

# define silence
r = 30

# map note names in the lilypad notation to irobot commands
c4 = 60
cis4 = des4 = 61
d4 = 62
dis4 = ees4 = 63
e4 = 64
f4 = 65
fis4 = ges4 = 66
g4 = 67
gis4 = aes4 = 68
a4 = 69
ais4 = bes4 = 70
b4 = 71
c5 = 72
cis5 = des5 = 73
d5 = 74
dis5 = ees5 = 75
e5 = 76
f5 = 77
fis5 = ges5 = 78
g5 = 79
gis5 = aes5 = 80
a5 = 81
ais5 = bes5 = 82
b5 = 83
c6 = 84
cis6 = des6 = 85
d6 = 86
dis6 = ees6 = 87
e6 = 88
f6 = 89
fis6 = ges6 = 90

# define some note lengths
# change the top MEASURE (4/4 time) to get faster/slower speeds
MEASURE = 160
HALF = MEASURE/2
Q = MEASURE/4
E = MEASURE/8
Ed = MEASURE*3/16
S = MEASURE/16

MEASURE_TIME = MEASURE/64.

# send song
# [140, num, len, (note, dur)_1, ...]
# durations are multiples of 1/64
# a4 a a f8. c'16 | a4 f8. c'16 a2
# e2 e e f8. c'16 | aes4 f8. c'16 a2
# a'4 a,8. a16 a'4 aes8 g | ges16 f g8 r8 bes, ees4 d8 des
# c16 b c8 r8 f,8 aes4 f8. aes16 | c4 a8. c16 e2
# a4 a,8. a16 a'4 aes8 g | ges16 f g8 r8 bes, ees4 d8 des
# c16 b c8 r8 f,8 aes4 f8. c'16 | a4 f8. c,16 a2
# 40/64 bps
print("send songs...")
# first upload the songs to the irobot...
s.write(ints2str([140, 0, 9,
                  a4,Q, a4,Q, a4,Q, f4,Ed, c5,S,
                  a4,Q, f4,Ed, c5,S, a4,HALF]))
s.write(ints2str([140, 1, 9,
                  e5,Q, e5,Q, e5,Q, f5,Ed, c5,S,
                  aes4,Q, f4,Ed, c5,S, a4,HALF]))
s.write(ints2str([140, 2, 9,
                  a5,Q, a4,Ed, a4,S, a5,Q, aes5,E, g5,E,
                  ges5,S, f5,S, ges5,S]))
s.write(ints2str([140, 3, 8,
                  r,E, bes4,E, ees5,Q, d5,E, des5,E,
                  c5,S, b4,S, c5,E]))
s.write(ints2str([140, 4, 9,
                  r,E, f4,E, aes4,Q, f4,Ed, aes4,S,
                  c5,Q, a4,Ed, c5,S, e5,HALF]))
# play 2 again
# play 3 again
s.write(ints2str([140, 5, 9,
                  r,E, f4,E, aes4,Q, f4,Ed, c5,S,
                  a4,Q, f4,Ed, c5,S, a4,HALF]))

# once all the songs are uploaded, play them at the right times
# add a little extra time, b/c otherwise cuts off the end
print("play songs...")
s.write(ints2str([141, 0]))
time.sleep(MEASURE_TIME*2.01)

s.write(ints2str([141, 1]))
time.sleep(MEASURE_TIME*2.01)

s.write(ints2str([141, 2]))
time.sleep(MEASURE_TIME*1.26)

s.write(ints2str([141, 3]))
time.sleep(MEASURE_TIME*1.01)

s.write(ints2str([141, 4]))
time.sleep(MEASURE_TIME*1.76)

s.write(ints2str([141, 2]))
time.sleep(MEASURE_TIME*1.26)

s.write(ints2str([141, 3]))
time.sleep(MEASURE_TIME*1.01)

s.write(ints2str([141, 5]))
time.sleep(MEASURE_TIME*1.76)