~s-cecilio/lenmus/v5.1.x

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(score
   (vers 1.5)(language en iso-8859-1)

   (title center "One instrument, two staves" (font bold 14))
   (title center "Single voice across both staves" (font italic 12))

   (instrument (staves 2)
      (musicData 
            (clef treble p1)   //sol clef in staff 1
            (clef bass p2)     //fa4 clef in staff 2
            (key A-)
            (time 2 4)
            (n g2 e g+ p2)(n d3 e)(n g3 e)(n b3 e g-)   //first note in staff 2. All coming notes also in staff 1 while not changed
            (barline)
            
            (n d4 e g+ p1)(n g4 e)(n d4 e)(n b3 e g-)   //in first note change to staff 1
            (barline)
            
            (n g2 e g+ p2)(n d3 e)(n g3 e)(n b3 e g-)   //in first note change to staff 2
            (barline)
            
            (n d4 e g+ p1)(n g4 e)(n d4 e)(n b3 e g-)   //in first note change to staff 1
            (barline)

            (n g3 e g+ p2)(n b3 e)(n d4 e p1)(n g4 e g-)   //group across both staves
            (barline)

            (n f4 q)(n c5 q)   //continues in staff 2
            (barline end)
     )
   )
)