#include "spy.nqh" #define Do 523 #define Dos 554 #define Re 587 #define Res 622 #define Mi 659 #define Fa 698 #define Fas 740 #define So 784 #define Sos 831 #define Ra 880 #define Ras 932 #define Si 988 #define DO 1047 #define RE 1175 #define TURN_TIME 200 #define turn_right Off(OUT_A);OnRev(OUT_B);Wait(TURN_TIME);Off(OUT_B); #define turn_left Off(OUT_B);OnRev(OUT_A);Wait(TURN_TIME);Off(OUT_A); #define go_straight OnRev(OUT_A+OUT_B); task play_music(){ PlayTone(So,20);Wait(40); PlayTone(So,20);Wait(25); PlayTone(Do,50);Wait(50); PlayTone(Re,50);Wait(50); PlayTone(Mi,50);Wait(50); PlayTone(Fa,50);Wait(50); PlayTone(So,40);Wait(60); PlayTone(DO,80);Wait(100); PlayTone(Si,40);Wait(40); PlayTone(Ra,20);Wait(25); PlayTone(Ra,50);Wait(60); PlayTone(So,30);Wait(50); PlayTone(Fas,30);Wait(35); PlayTone(Fas,30);Wait(30); PlayTone(Ra,30);Wait(30); PlayTone(So,50);Wait(50); PlayTone(Mi,50);Wait(80); PlayTone(Mi,20);Wait(40); PlayTone(Mi,20);Wait(25); PlayTone(Mi,50);Wait(55); PlayTone(Mi,50);Wait(50); PlayTone(Fas,50);Wait(50); PlayTone(Sos,50);Wait(50); PlayTone(Ra,50);Wait(60); PlayTone(Ra,30);Wait(30); PlayTone(Si,30);Wait(30); PlayTone(DO,30);Wait(30); PlayTone(RE,60);Wait(80); PlayTone(Ra,30);Wait(35); PlayTone(Ra,30);Wait(30); PlayTone(RE,25);Wait(30); PlayTone(RE,50);Wait(50); PlayTone(DO,50);Wait(50); PlayTone(Si,50);Wait(50); PlayTone(Ra,50);Wait(50); } task main(){ OnRev(OUT_A+OUT_B); until (SENSOR_1 == 1); Off(OUT_A+OUT_B); start play_music; wait(800); stop play_music; }