Building Robots With Lego Mindstorms

122 Chapter 7 • Playing Sounds and Music

Creating a soundtrack for your robot is a typical example of where multi-

tasking proves to be really helpful.You will typically enclose your song in a sepa-

rate task, starting and stopping it from the main task, as required by the situation.

Converting MIDI files

By using constants, your program becomes more clear, but you don’t save any

time in coding your melody.You still have to write the notes one by one.The

good news is that some tools can do some or all the work for you.The Bricx

Command Center, for instance, lets you click notes on a virtual piano keyboard

on the PC screen, generating the corresponding ...