;; ALFI (Animatronic Lego Face for Interaction) Program
;; Version 3.5
;; Final Version 5/24/2009
;; By Edward Stumpf, Class of 2009
;; Fixed eye lid range, fixed blinking to be every 5 seconds.

menu 1 [run]

global [ear-position mouth-position eye-position lids-position state rightLevel leftLevel levelDiff boredTime blinkTime]
;; ear-position: 1=up, 0=down
;; mouth-position: 1=open, 0=closed
;; eye-position: 2=left, 1=right, 0=center
;; lids-position: 2=up, 1=down, 0=center
;; state: 2=bored, 1=alert, 0=asleep
;; rightLevel is the level of the right light sensor
;; leftLevel is the level of the left light sensor
;; levelDiff is the difference between the two sensors
;; boredTime tracks what time it is for timing bored
;; blinkTime is used for blinks


to run
	setrightLevel RL-sense
	setleftLevel LL-sense
	setlevelDiff (leftLevel - rightLevel)

	setup

	loop [
		ifelse (and (LL-sense < (RL-sense + levelDiff + 4))
		    	    (LL-sense > (RL-sense + levelDiff - 4))) [
			;; either it sees something in the center range or it sleeps
			;; either way, eyes center
			eye-center

			ifelse (and (LL-sense < (leftLevel + 4))
		    	    	    (RL-sense < (rightLevel + 4))) [
				;; both sensor are at base level
				;; determine whether should be bored or asleep
				if (state = 1) [
					;; first change to bored sets timer
					go-bored
					setboredTime timer
				]
				ifelse (or (and (state = 2)
						((timer - boredTime) > 20000))
				      	   (state = 0)) [
					;; if bored for 20 seconds, transition to sleep
					;; if already asleep, stay asleep (nap time)
					go-sleep
				] [
					;; otherwise stay bored
					go-bored
				]
			] [
				;; sensors saw something, so be alert
				go-alert
			]
		] [
			;; something has been seen
			go-alert
			if (and (LL-sense > leftLevel)
				(LL-sense > (RL-sense + levelDiff))) [
				;; if the left input is greater than the right, look left
				eye-left
			]
			if (and (RL-sense > rightLevel)
				(LL-sense < (RL-sense + levelDiff))) [
				;; if the right input is greater than the left, look left
				eye-right
			]
		]
	]
end

to go-alert
	if (or (state = 0)
	       (state = 2)) [
		;; was asleep / bored
		ear-up
		mouth-open
		lids-up
		setstate 1
		setblinkTime timer
	]

	;; blink every 5 seconds
	if ((timer - blinkTime) > 5000) [
		blink
		setblinkTime timer
	]

	;; random ear wiggle
	if ((random 60) = 0) [
		ear-wiggle
	]
end

to go-sleep
	if (state = 2) [
		mouth-close
		ear-down
		wait 2
		lids-down
		setstate 0
	]
end

to go-bored
	if (state = 1) [
		lids-center
		eye-center
		ear-down
		mouth-close
		setstate 2
		setblinkTime timer
	]
	


	;; blink every 5 seconds
	if ((timer - blinkTime) > 5000) [
		blink
		setblinkTime timer
	]

	;; random yawn
	if ((random 80) = 0) [
		yawn
	]

	;; random ear wiggle
	if ((random 100) = 0) [
		ear-wiggle
	]
end

to setup
	;; starts off asleep
	setstate 0

	seteye-position 0  ;; center
	setlids-position 1  ;; down
	setmouth-position 0  ;; closed
	setear-position 0  ;; down

	eye-motor setpower 1
	ear-motor setpower 1
	mouth-motor setpower 1
	lids-motor setpower 1
end


;;;;;;;;;;;;;;;;;;;
;; Eye Functions ;;
;;;;;;;;;;;;;;;;;;;

;; eye-position: 2=left, 1=right, 0=center
;; thisway = left, thatway = right

to eye-left
	if (eye-position = 0) [
	;; center to left
	break-beam-eye-this 25]

	if (eye-position = 1) [
	;; right to left
	break-beam-eye-this 50]

	seteye-position 2
end

to eye-right
	if (eye-position = 0) [
	;; center to right
	break-beam-eye-that 25]

	if (eye-position = 2) [
	;; left to right
	break-beam-eye-that 50]

	seteye-position 1
end

to eye-center
	if (eye-position = 2) [
	;; left to center
	break-beam-eye-that 25]

	if (eye-position = 1) [
	;; right to center
	break-beam-eye-this 25]

	seteye-position 0
end



;;;;;;;;;;;;;;;;;;;
;; Ear Functions ;;
;;;;;;;;;;;;;;;;;;;

;; ear-position: 1=up, 0=down

to ear-wiggle
	if (state = 1) [
		;; alert wiggle
		ear-down
		ear-up
	]

	if (state = 2) [
		;; bored wiggle
		ear-up
		wait 5
		ear-down
	]
end

to ear-up
	if (not(ear-position = 1)) [
		ear-motor thisway on
		waituntil[ear-up-sense]
		ear-motor off
		setear-position 1]
end

to ear-down
	if (not(ear-position = 0)) [
		ear-motor thatway on
		waituntil[ear-down-sense]
		ear-motor off
		setear-position 0]
end



;;;;;;;;;;;;;;;;;;;;;
;; Mouth Functions ;;
;;;;;;;;;;;;;;;;;;;;;

;; mouth-position: 1=open, 0=closed

to yawn
	mouth-open
	wait 10
	mouth-close
end

to mouth-open
	if (not(mouth-position = 1)) [
		mouth-motor thatway on
		waituntil[mouth-open-sense]
		mouth-motor off
		setmouth-position 1]
end

to mouth-close
	if (not(mouth-position = 0)) [
		mouth-motor thisway on
		waituntil[mouth-close-sense]
		mouth-motor off
		setmouth-position 0]
end



;;;;;;;;;;;;;;;;;;;;
;; lids Functions ;;
;;;;;;;;;;;;;;;;;;;;

;; lids-position: 2=up, 1=down, 0=center

to blink
	if (state = 1) [
		;; alert full blink
		lids-down
		wait 2
		lids-up
	]

	if (state = 2) [
		;; bored half blink (think tired)
		lids-down
		wait 2
		lids-center
	]
end

to lids-up
	if (lids-position = 0) [
	break-beam-lids-up 20
	setlids-position 2]

	if (lids-position = 1) [
	break-beam-lids-up 40
	setlids-position 2]

	
end

to lids-down
	if (lids-position = 0) [
	break-beam-lids-down 20
	setlids-position 1]

	if (lids-position = 2) [
	break-beam-lids-down 40
	setlids-position 1]

	
end

to lids-center
	if (lids-position = 2) [
	break-beam-lids-down 20
	setlids-position 0]

	if (lids-position = 1) [
	break-beam-lids-up 20
	setlids-position 0]

	
end



;;;;;;;;;;;;;;;;;;;;;;
;; Helper Functions ;;
;;;;;;;;;;;;;;;;;;;;;;

;; functions count the specified number of times the IR beam is broken

to break-beam-eye-this :count
	eye-motor thisway on
	repeat :count [
		waituntil[(eye-sense) > 50]
		waituntil[(eye-sense) < 50]
	]
	eye-motor off
end

to break-beam-eye-that :count
	eye-motor thatway on
	repeat :count [
		waituntil[(eye-sense) > 50]
		waituntil[(eye-sense) < 50]
	]
	eye-motor off
end

to break-beam-lids-down :count
	lids-motor thisway on
	repeat :count [
		waituntil[(lids-sense) > 50]
		waituntil[(lids-sense) < 50]
	]
	lids-motor off
end

to break-beam-lids-up :count
	lids-motor thatway on
	repeat :count [
		waituntil[(lids-sense) > 50]
		waituntil[(lids-sense) < 50]
	]
	lids-motor off
end

 

;;;;;;;;;;;;;;;;;;
;; Sensor Names ;;
;;;;;;;;;;;;;;;;;;

to ear-up-sense
	output switch 7
end

to ear-down-sense
	output switch 8
end

to mouth-close-sense
	output switch 9
end

to mouth-open-sense
	output switch 10
end

to eye-emit
	output switch 14
end

to eye-sense
	output sensor 0
end

to lids-emit
	output switch 15
end

to lids-sense
	output sensor 1
end

to LL-sense
	;; red block
	;; left side (for robot)
	output sensor 6
end

to RL-sense
	;; yellow block
	;; right side (for robot)
	output sensor 5
end

;;;;;;;;;;;;;;;;;
;; Motor Names ;;
;;;;;;;;;;;;;;;;;

to ear-motor
	a,
end

to mouth-motor
	b,
end

to eye-motor
	c,
end

to lids-motor
	d,
end