LEGO MINDSTORMS Robots

#define SIXTH 12
#define HALF 3∗SIXTH
#define BEAT 2∗HALF
#define GRACE 6
task main() {
PlayTone(330, 2∗BEAT);
Wait(2∗BEAT + 2∗SIXTH);
PlayTone(115, SIXTH);
PlayTone(208, SIXTH);
PlayTone(247, SIXTH);
PlayTone(330, SIXTH);
PlayTone(311, 2∗BEAT);
Wait(4∗SIXTH + 2∗BEAT + 2∗SIXTH);
PlayTone(115, SIXTH);
PlayTone(208, SIXTH);
PlayTone(247, SIXTH);
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PlayTone(311, SIXTH);
PlayTone(277, 3∗BEAT);
Wait(4∗SIXTH + 3∗BEAT + HALF);
PlayTone(277, HALF);
PlayTone(311, HALF);
PlayTone(370, GRACE);
PlayTone(330, HALF);
PlayTone(311, HALF); Wait (2∗HALF);
PlayTone(277, HALF);
PlayTone(330, HALF);
PlayTone(220, HALF);
PlayTone(220, 2∗BEAT);
Wait(GRACE + 5∗HALF + 2∗BEAT + HALF);
PlayTone(247, HALF);
PlayTone(277, HALF);
PlayTone(330, GRACE);
PlayTone(311, HALF);
PlayTone(277, HALF); Wait (2∗HALF);
PlayTone(247, HALF);
PlayTone(311, HALF);
PlayTone(208, HALF);
PlayTone(208, 2∗BEAT);
Wait(GRACE + 5∗HALF + 2∗BEAT + HALF);
}
IR Communication
Your robot can send and receive data over its IR port. In NQC, three commands handle sending and receiving data:
SendMessage(expression m)
This command sends the given byte of data out the IR port.