/*
Programa: Codigo robot bipedo (BP-F3) 
Autor: Fabricio R.
Version: 3.2
Tiempo total de programación: 1 mes
*/

#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,
};
char val;
int cont = 0;
int speakerPin = 6;
const int Trigger = 8;
const int Echo = 9;
int val1 = 84;
int val2 = 82;
int val4 = 98;
int val3 = 85;
int cam = 20;
int camizq = 25;
int cambajo = 30;
int vel = 200;  //200
int modo = 0;
int led = 10;
int dan = A1;
int d_izq = A2;
int d_der = A3;


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(7, OUTPUT);
  pinMode(speakerPin, OUTPUT);
  pinMode(led, OUTPUT);
  pinMode(dan, OUTPUT);
  pinMode(d_izq, INPUT);
  pinMode(d_der, INPUT);
  randomSeed(analogRead(0));

  servo.write(val1);
  servo2.write(val2);
  servo3.write(val3);
  servo4.write(val4);
}

void loop() {
  digitalWrite(7, HIGH);
  delay(1000);
  digitalWrite(7, LOW);
  delay(1000);

  if (Serial.available() > 0)  //Detecta si hay alguna entrada por serial
  {
    modo = 2;
    val = Serial.read();


    if (val == 'a') {
      digitalWrite(7, HIGH);
      catcall();
      adelante();
      adelante();

      parar();
    } else if (val == 'C') {
      digitalWrite(7, HIGH);
      catcall();
      adelante();
      adelante();
      adelante();
      delay(800);
      adelante();
      adelante();
      adelante();

      uhoh();
      parar();
    }

    else if (val == 'b') {
      uhoh();
      izq();
      izq();
      izq();
      izq();

      parar();
    } else if (val == 'c') {
      ohhh();
      parar();
    } else if (val == 'd') {
      caer();
    } else if (val == 'e') {
      for (int x = 0; x < 3; x++) {
        atras();
      }
      parar();
    } else if (val == 'v') {
      digitalWrite(led, HIGH);
      astronomia();
      delay(1000);
      digitalWrite(led, LOW);
    } else if (val == 'h') {
      //hablar
      r2D2();
      delay(500);
    } else if (val == 't') {
      canta();
    } else if (val == 'n') {
      //cual es tu nombre
      r2D2();
    } else if (val == 'q') {
      modo = 1;
    } else if (val == 'A') {
      uhoh();
      digitalWrite(led, HIGH);
    } else if (val == 'B') {
      ohhh();
      digitalWrite(led, LOW);
    } else if (val == 'F') {
      ohhh();
      digitalWrite(dan, HIGH);
      digitalWrite(led, HIGH);
      fiesta();
    } else if (val == 'f') {
      uhoh();
      digitalWrite(dan, LOW);
      digitalWrite(led, LOW);
    } else if (val == 'D') {
      di_algo();
      di_algo();
      di_algo();
    }
  } else if (modo == 1) {
    boolean iz = digitalRead(d_izq);   //Devuelve false cuando detecta algo
    boolean der = digitalRead(d_der);  //Devuelve false cuando detecta algo
    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 fiesta() {

  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);
      paso2(va);
    } else if (thisNote < 60 && thisNote > 42) {
      int va = (thisNote % 6);
      paso1(va);
    } else if (thisNote > 60 && thisNote < 78) {
      int va = (thisNote % 6);
      paso3(va);

    } else if (thisNote < 96 && thisNote > 78) {
      int va = (thisNote % 6);
      paso4(va);
    } else if (thisNote > 96) {
      int va = (thisNote % 6);
      paso1(va);
    }
    noTone(6);
  }
}
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) {  //da vuelta
  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) {  //camina hacia adelante
  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) {  //camina atras
  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 paso4(int varr) {
  switch (varr) {
    case 1:
      servo4.write(val4 + cam);
      servo.write(val1 - cam);
      break;
    case 2:
      servo4.write(val4);
      servo.write(val1);
      break;
    case 3:
      servo4.write(val4 + cam);
      servo.write(val1 - cam);
      break;
    case 4:
      servo4.write(val4);
      servo.write(val1);
      break;
    case 5:
      servo4.write(val4 + cam);
      servo.write(val1 - cam);
      break;
    case 0:
      servo4.write(val4);
      servo.write(val1);
      break;
  }
}
void paso5 (int varr){
switch (varr){
  case 1:
  servo.write(val1 + cambajo);
  servo2.write(val2 - 50);
  delay(vel);
  break;
  case 2:
  servo.write(val1);
  servo2.write(val2);
  break;
  case 3:
  servo.write(val + cambajo);
  servo2.write(val2 - 50); 
  delay(vel); 
  break;
  case 4:
  servo.write(val1);
  servo2.write(val2);
  break;
  case 5:
  servo.write(val1 + cambajo);
  servo2.write(val2 - 50);  
  delay(vel);
  break;
  case 0:
  servo.write(val1);
  servo2.write(val2);  
}
}
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 phrase1() {

  int k = random(1000, 2000);
  digitalWrite(led, HIGH);
  for (int i = 0; i <= random(100, 2000); i++) {

    tone(speakerPin, k + (-i * 2));
    delay(random(.9, 2));
  }
  digitalWrite(led, LOW);
  for (int i = 0; i <= random(100, 1000); i++) {

    tone(speakerPin, k + (i * 10));
    delay(random(.9, 2));
  }
}
void phrase2() {

  int k = random(1000, 2000);
  digitalWrite(led, HIGH);
  for (int i = 0; i <= random(100, 2000); i++) {

    tone(speakerPin, k + (i * 2));
    delay(random(.9, 2));
  }
  digitalWrite(led, LOW);
  for (int i = 0; i <= random(100, 1000); i++) {

    tone(speakerPin, k + (-i * 10));
    delay(random(.9, 2));
  }
}
void di_algo() {
  int K = 2000;
  switch (random(1, 7)) {

    case 1: phrase1(); break;
    case 2: phrase2(); break;
    case 3:
      phrase1();
      phrase2();
      break;
    case 4:
      phrase1();
      phrase2();
      phrase1();
      break;
    case 5:
      phrase1();
      phrase2();
      phrase1();
      phrase2();
      phrase1();
      break;
    case 6:
      phrase2();
      phrase1();
      phrase2();
      break;
  }
  for (int i = 0; i <= random(3, 9); i++) {

    digitalWrite(led, HIGH);
    tone(speakerPin, K + random(-1700, 2000));
    delay(random(70, 170));
    digitalWrite(led, LOW);
    noTone(speakerPin);
    delay(random(0, 30));
  }
  noTone(speakerPin);
  delay(random(2000, 4000));
}
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);
}