=====================================
Dancing With Music!
=====================================

.. raw:: html
    
    <div style="background: #C3F8FF" class="admonition note custom">
        <p style="background: light-blue" class="admonition-title">
            Follow along: Robot Arm Dancing with Music
        </p>
        <div class="line-block">
            <div class="line">The program launching process along with parameter settings are all simplified and set up on the Jupyter Notebook Environment.</div>
        </div>
        <ul>
            <li>Open the 05_09_music_dance.ipynb Jupyter Notebook.</li>
            <li>Load Arm_Lib module and register the robot arm as an object.</li>
            <li>Initialize the sound file.</li>
            <li>Initialize the starting position of the robot arm.</li>
            <li>Play the music and the dance at the same time.</li>

        </ul>
        <div class="line">(The Jetson Board used for these examples are => Jetson Nano)</div>
        
    </div>


.. raw:: html

    <hr>


-   05_09_music_dance.ipynb
-   | Running the cell code
    | `Ctrl + Enter`

-   To control the robot arm from code, don't forget to shut down the docker container. See `here <https://zeta-edu-lecture.readthedocs.io/en/latest/lecture_courses/course_1/5.robot_arm_ex/2.basic_control/2.before_starting.html>`_.

.. thumbnail:: /_images/arm_dance/arm_dance1.png

-   Robot arm dance example with an exciting music.

-   Load Arm_Lib module and register the robot arm as an object.

.. code-block:: python

    import os
    import time
    from Arm_Lib import Arm_Device

    # Register robot arm object
    Arm = Arm_Device()
    time.sleep(.1)

-   Move servo to initial position.

.. code-block:: python

    # Move servo to initial position.
    Arm.Arm_serial_servo_write6(0, 90, 0, 180, 90, 90, 2000)

-   Play the music and the dance at the same time.

.. code-block:: python

    os.system('rostopic pub -1 /play_specific std_msgs/String "data: \'/root/scripts/sensor/arm_sounds/music_cari.mp3\'"')
    # Servo range : 0~180
    Arm.Arm_serial_servo_write6(90, 90, 90, 90, 90, 90, 1600)
    time.sleep(1.61)
    Arm.Arm_serial_servo_write6(180, 90, 0, 180, 90, 90, 1600)
    time.sleep(1.61)
    Arm.Arm_serial_servo_write6(90, 90, 90, 90, 90, 90, 1600)
    time.sleep(1.61)
    Arm.Arm_serial_servo_write6(0, 90, 0, 180, 90, 90, 1600)
    time.sleep(1.61)
    Arm.Arm_serial_servo_write6(90, 90, 90, 90, 90, 90, 1600)
    time.sleep(1.61)
    Arm.Arm_serial_servo_write6(180, 90, 0, 180, 90, 90, 1600)
    time.sleep(1.61)
    Arm.Arm_serial_servo_write6(90, 90, 90, 90, 90, 90, 1600)
    time.sleep(1.61)
    Arm.Arm_serial_servo_write6(90, 90, 0, 90, 90, 90, 600)
    time.sleep(0.82)
    Arm.Arm_serial_servo_write6(90, 90, 0, 180, 90, 90, 600)
    time.sleep(0.82)
    Arm.Arm_serial_servo_write6(0, 90, 0, 180, 0, 180, 600)
    time.sleep(0.82)
    Arm.Arm_serial_servo_write6(90, 90, 0, 180, 90, 90, 600)
    time.sleep(0.82)
    Arm.Arm_serial_servo_write6(180, 90, 0, 180, 180, 180, 600)
    time.sleep(0.82)
    Arm.Arm_serial_servo_write6(90, 90, 0, 180, 90, 90, 600)
    time.sleep(0.82)
    Arm.Arm_serial_servo_write6(90, 90, 90, 90, 90, 90, 600)
    time.sleep(0.82)
    Arm.Arm_serial_servo_write6(90, 90, 0, 180, 90, 90, 600)
    time.sleep(0.82)
    Arm.Arm_serial_servo_write6(0, 90, 0, 180, 0, 180, 600)
    time.sleep(0.82)
    Arm.Arm_serial_servo_write6(90, 90, 0, 180, 90, 90, 600)
    time.sleep(0.82)
    Arm.Arm_serial_servo_write6(180, 90, 0, 180, 180, 180, 600)
    time.sleep(0.82)
    Arm.Arm_serial_servo_write6(90, 90, 0, 180, 90, 90, 600)
    time.sleep(0.82)
    Arm.Arm_serial_servo_write6(180, 90, 0, 180, 180, 180, 600)
    time.sleep(0.82)
    Arm.Arm_serial_servo_write6(90, 90, 0, 180, 90, 90, 600)
    time.sleep(0.82)
    Arm.Arm_serial_servo_write6(0, 90, 0, 180, 0, 180, 600)
    time.sleep(0.82)
    Arm.Arm_serial_servo_write6(90, 90, 0, 180, 90, 90, 600)
    time.sleep(0.82)
    Arm.Arm_serial_servo_write6(90, 90, 0, 90, 90, 90, 1500)
    time.sleep(1.5)
    Arm.Arm_serial_servo_write6(90, 90, 0, 90, 90, 180, 500)
    time.sleep(1)
    os.system('rostopic pub -1 /play_specific std_msgs/String "data: \'stop\'"')