孩子小时候，我哼得最多的曲子，最多三遍，一定睡着 S1新加入了播放音符的功能，看了一些机友的视频，大家都用scratch写的吧，逐个音符输入很累吧。 本程序用python编写，采用了一些技术手段，可以把你从繁琐的输入中解放出来，轻轻松松播放各种曲子 首先，那个长长的define非常不友好，rm_define.media_sound_solmization_1C，一个音符就这么长，敲键盘要敲多久啊。那个1C，要想一想才知道是低音1。要是看简谱录入，你还是要反应一下，用scratch的话，你还要人工做唱名到钢琴键之间的映射，太麻烦了 其次，一句一句地写media_ctrl.play_sound()，太累了，用scratch的话，一个一个调用播放音符模块，同样太累了，要是输错了一个音符，你就慢慢找吧 于是，我先定义了一个编码，11-17表示低音1-7，21-27表示中音1-7，31-37表示高音1-7，至于升半音，那就加0.5，比如23.5表示中音3#，特别地，0表示休止符。代码如下 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] ​ 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]) 函数play_note(x) 直接播放我定义的编码对应的音符，至于这个函数怎么写的，比较难说明白，大家当黑匣子就好 然后，定义一个数组，用两个数表示一个音，第一个数就是上述编码，第二个数是音长，简单粗暴一点，1表示四分音符，0.5表示八分音符，0.25表示十六分音符，1.5表示附点四分音符，呵呵，总之就是1代表1拍，对应实际时间1秒。比如勃拉姆斯的摇篮曲，代码如下，直接照着简谱抄，童叟无欺： music = [\ 23,0.5, 23,0.5, 25,1.5, 23,0.5, 23,1, 25,1, 0,1, 23,0.5, 25,0.5, 31,1, 27,1.5, 26,0.5, 26,1, 25,1, 22,0.5, 23,0.5,\ 24,1, 22,1, 22,0.5, 23,0.5, 24,1, 0,1, 22,0.5, 24,0.5, 27,0.5, 26,0.5, 25,1, 27,1, 31,1, 0,1, 21,0.5, 21,0.5,\ 31,2, 26,0.5, 24,0.5, 25,2, 23,0.5, 21,0.5, 24,1, 25,1, 26,1, 23,0.25, 25,1.75, 21,0.5, 21,0.5,\ 31,2, 26,0.5, 24,0.5, 25,2, 23,0.5, 21,0.5, 24,0.5, 25,0.25, 24,0.25, 23,1, 22,1, 21,2] 我写的时候，故意把两个数写得紧凑，而每两个数之间加了一个空格，这样有什么问题好查 播放就很简单了，一个循环，读数组，播音符，over def start(): global note global music for i in range(0,len(music)//2): play_note(music[2*i]) time.sleep(music[2*i+1]) 简单吧，要播放其他音乐，换music数组就好，程序不动，动的只是数据 DJI要是再支持文件读写就更爽了，音乐写在文件里，读文件播放，源代码都可以不动 播放音乐搞定了，现在要加上动作，怎么加呢？很遗憾，DJI还没有支持多线程，需要有一个变通的办法 怎么做呢？就是在上面time.sleep()函数这里做文章。我玩过很多种机器人，对于几乎所有的机器人，sleep，wait之类的函数都非常坑爹，要想编出高级程序，必须放弃这一类函数 具体做法，用计时器，代码框架是这样的 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]: t = tools.timer_current() #这里插入你要做的事情 播放音符是一个非阻塞功能，执行了之后，后台就播放去了，前台交到你手里 这时，用变量t0记录当前时间，再用循环反复检查（当前时间-t0）有没有达到你期望的延迟，就可以实现sleep函数的效果，但是你获得了做你自己的事情的机会 具体到这个曲子，既然是摇篮曲，那就模拟摇摇篮的动作吧，用一个周期函数控制速度，做一个圆弧运动就好。代码如下： 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]: t = tools.timer_current() v = 0.5*math.cos(t*1.5) chassis_ctrl.move_with_speed(v,0,v/math.pi*180) chassis_ctrl.stop() 再配合一下灯效，用呼吸灯。可惜呼吸灯不能调周期，没法与音乐融为一体，是个遗憾 led_ctrl.set_bottom_led(rm_define.armor_bottom_all, 69, 215, 255, rm_define.effect_breath) led_ctrl.set_top_led(rm_define.armor_top_all, 69, 215, 255, rm_define.effect_breath) 再让云台摆个姿势，就当是一位父亲抱着小宝宝，哼着摇篮曲，轻轻摇动:D robot_ctrl.set_mode(rm_define.robot_mode_free) gimbal_ctrl.set_rotate_speed(270) gimbal_ctrl.angle_ctrl(90, -15) 视频如下：

这是完整的代码： 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] ​ 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]) ​ music = [\ 23,0.5, 23,0.5, 25,1.5, 23,0.5, 23,1, 25,1, 0,1, 23,0.5, 25,0.5, 31,1, 27,1.5, 26,0.5, 26,1, 25,1, 22,0.5, 23,0.5,\ 24,1, 22,1, 22,0.5, 23,0.5, 24,1, 0,1, 22,0.5, 24,0.5, 27,0.5, 26,0.5, 25,1, 27,1, 31,1, 0,1, 21,0.5, 21,0.5,\ 31,2, 26,0.5, 24,0.5, 25,2, 23,0.5, 21,0.5, 24,1, 25,1, 26,1, 23,0.25, 25,1.75, 21,0.5, 21,0.5,\ 31,2, 26,0.5, 24,0.5, 25,2, 23,0.5, 21,0.5, 24,0.5, 25,0.25, 24,0.25, 23,1, 22,1, 21,2] def start(): robot_ctrl.set_mode(rm_define.robot_mode_free) gimbal_ctrl.set_rotate_speed(270) gimbal_ctrl.angle_ctrl(90, -15) led_ctrl.set_bottom_led(rm_define.armor_bottom_all, 69, 215, 255, rm_define.effect_breath) led_ctrl.set_top_led(rm_define.armor_top_all, 69, 215, 255, rm_define.effect_breath) tools.timer_ctrl(rm_define.timer_start) global note global music 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]: t = tools.timer_current() v = 0.5*math.cos(t*1.5) chassis_ctrl.move_with_speed(v,0,v/math.pi*180) chassis_ctrl.stop() S1如摇篮一般缓缓摇动，配合呼吸灯，轻轻地哼着勃拉姆斯摇篮曲，亲爱的各位小朋友和大朋友，该睡觉了