Fluxus and Al-Jazari
Fluxus is a “game engine” for live coding audio and video in the scheme programming language. It can be used for VJing and audio/visual performances, where the code floats above the video output it is enacting.
Al-Jazari is a live coding environment written within Fluxus - live coding within live coding. You give robots
instructions for moving around a musical environment, only using the gamepad.
Here’s an illustrative, simple example of Al-Jazari in use: