蝶恋这首曲子来自著名RPG游戏仙剑奇侠传，很凄美的故事，每次女主角都会死 上一首曲子，我设计了乐曲的简单编码，一劳永逸，这首曲子，仅仅是换个数组的数据而已 相同的部分就不贴了，乐谱如下： music = [\ 23,0.5, 23,0.5, 23,0.5, 22,0.5, 23,2,\ 22,0.5, 23,0.5, 22,0.5, 22,0.5, 16,1, 16,0.5, 17,0.5,\ 21,1, 22,0.5, 21,0.5, 17,1, 16,0.5, 15,0.5,\ 16,4,\ 23,0.5, 23,0.5, 23,0.5, 22,0.5, 23,1.5, 26,0.5,\ 25,0.5, 26,0.5, 25,0.5, 25,0.5, 22,1, 22,0.5, 23,0.5,\ 24,1, 25,0.5, 24,0.5, 23,1, 22,0.5, 21,0.5,\ 23,3.5, 23,0.5,\ 26,1, 27,0.5, 26,0.5, 25,1.5, 23,0.5,\ 25,3, 23,0.5, 25,0.5,\ 22,1, 26,0.5, 25,0.5, 23,1, 22,0.5, 23,0.5,\ 23,4,\ 22,1, 26,0.5, 26,2.5,\ 21,1, 26,0.5, 26,1.5, 26,0.5, 27,0.5,\ 31,1, 27,0.5, 26,0.5, 27,1, 26,0.5, 27,0.5,\ 23,3.5, 23,0.5,\ 26,1, 27,0.5, 26,0.5, 25,1.5, 23,0.5,\ 25,3, 23,0.5, 25,0.5,\ 26,1, 27,0.5, 26,0.5, 27,1, 26,0.5, 27,0.5,\ 23,4,\ 22,1, 26,0.5, 26,2.5,\ 21,1, 26,0.5, 26,1.5, 26,0.5, 27,0.5,\ 31,1, 27,0.5, 26,0.5, 27,1, 25,1,\ 26,4] 比较长，干脆一个小节一行，要是输错了，找起来方便 接下来是动作，就让S1来个心形曲线走位吧，查了一下，心形曲线是这样的

极坐标方程为ρ=a(1+cosθ) 化成参数方程：x=a(1+cosθ)cosθ, y=a(1+cosθ)sinθ 求导得到速度向量，有些生疏了，偷个懒，用神器 https://www.wolframalpha.com x=-asinθ(2cosθ+1), y=a(cosθ + cos^2(θ) - sin^2(θ)) θ是时间的函数，我写了一个Move函数，计算速度向量，然后用麦轮的全向移动 变量t1是调出来的，可以改变初始位置和角速度 def Move(t,v): t1 = t*0.48+math.pi cost=math.cos(t1) sint=math.sin(t1) x=v*(-sint*(2*cost+1)) y=v*(-sint*sint+cost*cost+cost) chassis_ctrl.move_with_speed(x,y,0) 然后是灯效，准备做一个绚丽的，以前玩Ardunio的时候看过一个例子，一圈LED变色旋转，我找到了那个程序，修改了一下，写成一个函数。原理我也没整明白，就是依葫芦画瓢翻译过来而已 def LED(t): t2 = int(t * 20) i = t2 % 8 + 1 j = t2 // 8 % 256 w = 255 - ( i * 32 + j ) % 256 if w < 85: [r,g,b] = [255 - w * 3,0,w * 3] else: if w < 170: w -= 85 [r,g,b] = [0,w * 3,255 - w * 3] else: w -= 170 [r,g,b] = [w * 3,255 - w * 3,0] led_ctrl.set_top_led(rm_define.armor_top_all, r, g, b, rm_define.effect_always_off) k=(i+3)%8+1 led_ctrl.set_single_led(rm_define.armor_top_all, [i,k], rm_define.effect_always_on) 最后，在主程序中调用这两个函数，over def start(): global note global music v = 0.32 #指定线速度，越大越快，画的心形也越大 led_ctrl.set_bottom_led(rm_define.armor_bottom_all, 224, 0, 255, rm_define.effect_always_on) tools.timer_ctrl(rm_define.timer_start) for i in range(0,len(music)//2): play_note(music[2*i]) t0 = tools.timer_current() t = t0 while t < t0 + music[2*i+1]*0.8: t = tools.timer_current() Move(t,v) LED(t) chassis_ctrl.stop() 基本上写成模板了，音乐可以批量生产了:D 有两个地方希望官方改进（算报告bug吗？:D） 1. 播放音符的时间是固定的，大约0.2秒，要播更长的音，比如0.5秒，用等待的话，效果就是前0.2秒有声音，后0.3秒没声音。旋律是出来了，但是效果大打折扣。对蝶恋这种比较凄美的曲子来说更明显 2. 云台的8个灯，可以指定亮哪几个，但是都必须亮一样的颜色，效果大打折扣。希望函数led_ctrl.set_single_led()能够指定颜色 视频：

完整代码： global note note = [\ rm_define.media_sound_solmization_1C,rm_define.media_sound_solmization_1CSharp,\ rm_define.media_sound_solmization_1D,rm_define.media_sound_solmization_1DSharp,\ rm_define.media_sound_solmization_1E,\ rm_define.media_sound_solmization_1F,rm_define.media_sound_solmization_1FSharp,\ rm_define.media_sound_solmization_1G,rm_define.media_sound_solmization_1GSharp,\ rm_define.media_sound_solmization_1A,rm_define.media_sound_solmization_1ASharp,\ rm_define.media_sound_solmization_1B,\ rm_define.media_sound_solmization_2C,rm_define.media_sound_solmization_2CSharp,\ rm_define.media_sound_solmization_2D,rm_define.media_sound_solmization_2DSharp,\ rm_define.media_sound_solmization_2E,\ rm_define.media_sound_solmization_2F,rm_define.media_sound_solmization_2FSharp,\ rm_define.media_sound_solmization_2G,rm_define.media_sound_solmization_2GSharp,\ rm_define.media_sound_solmization_2A,rm_define.media_sound_solmization_2ASharp,\ rm_define.media_sound_solmization_2B,\ rm_define.media_sound_solmization_3C,rm_define.media_sound_solmization_3CSharp,\ rm_define.media_sound_solmization_3D,rm_define.media_sound_solmization_3DSharp,\ rm_define.media_sound_solmization_3E,\ rm_define.media_sound_solmization_3F,rm_define.media_sound_solmization_3FSharp,\ rm_define.media_sound_solmization_3G,rm_define.media_sound_solmization_3GSharp,\ rm_define.media_sound_solmization_3A,rm_define.media_sound_solmization_3ASharp,\ rm_define.media_sound_solmization_3B] music = [\ 23,0.5, 23,0.5, 23,0.5, 22,0.5, 23,2,\ 22,0.5, 23,0.5, 22,0.5, 22,0.5, 16,1, 16,0.5, 17,0.5,\ 21,1, 22,0.5, 21,0.5, 17,1, 16,0.5, 15,0.5,\ 16,4,\ 23,0.5, 23,0.5, 23,0.5, 22,0.5, 23,1.5, 26,0.5,\ 25,0.5, 26,0.5, 25,0.5, 25,0.5, 22,1, 22,0.5, 23,0.5,\ 24,1, 25,0.5, 24,0.5, 23,1, 22,0.5, 21,0.5,\ 23,3.5, 23,0.5,\ 26,1, 27,0.5, 26,0.5, 25,1.5, 23,0.5,\ 25,3, 23,0.5, 25,0.5,\ 22,1, 26,0.5, 25,0.5, 23,1, 22,0.5, 23,0.5,\ 23,4,\ 22,1, 26,0.5, 26,2.5,\ 21,1, 26,0.5, 26,1.5, 26,0.5, 27,0.5,\ 31,1, 27,0.5, 26,0.5, 27,1, 26,0.5, 27,0.5,\ 23,3.5, 23,0.5,\ 26,1, 27,0.5, 26,0.5, 25,1.5, 23,0.5,\ 25,3, 23,0.5, 25,0.5,\ 26,1, 27,0.5, 26,0.5, 27,1, 26,0.5, 27,0.5,\ 23,4,\ 22,1, 26,0.5, 26,2.5,\ 21,1, 26,0.5, 26,1.5, 26,0.5, 27,0.5,\ 31,1, 27,0.5, 26,0.5, 27,1, 25,1,\ 26,4] def play_note(x): a = x // 10 - 1 b = x * 2 % 20 - 2 if b > 5: b -= 1 n = int(a * 12 + b) if x != 0: media_ctrl.play_sound(note[n]) def start(): global note global music v = 0.32 led_ctrl.set_bottom_led(rm_define.armor_bottom_all, 224, 0, 255, rm_define.effect_always_on) tools.timer_ctrl(rm_define.timer_start) for i in range(0,len(music)//2): play_note(music[2*i]) t0 = tools.timer_current() t = t0 while t < t0 + music[2*i+1]*0.8: t = tools.timer_current() Move(t,v) LED(t) chassis_ctrl.stop() def Move(t,v): t1 = t*0.48+math.pi cost=math.cos(t1) sint=math.sin(t1) x=v*(-sint*(2*cost+1)) y=v*(-sint*sint+cost*cost+cost) chassis_ctrl.move_with_speed(x,y,0) def LED(t): t2 = int(t * 20) i = t2 % 8 + 1 j = t2 // 8 % 256 w = 255 - ( i * 32 + j ) % 256 if w < 85: [r,g,b] = [255 - w * 3,0,w * 3] else: if w < 170: w -= 85 [r,g,b] = [0,w * 3,255 - w * 3] else: w -= 170 [r,g,b] = [w * 3,255 - w * 3,0] led_ctrl.set_top_led(rm_define.armor_top_all, r, g, b, rm_define.effect_always_off) k=(i+3)%8+1 led_ctrl.set_single_led(rm_define.armor_top_all, [i,k], rm_define.effect_always_on)