Psi Swarm Robot
Library for the PsiSwarm Robot - Version 0.7
Fork of
PsiSwarmLibrary
by 
James Hilder
Revision 6:b340a527add9, committed 2016-10-15
- Comitter:
- jah128
- Date:
- Sat Oct 15 13:51:39 2016 +0000
- Parent:
- 5:3cdd1a37cdd7
- Commit message:
- Added Apache license to files
Changed in this revision
diff -r 3cdd1a37cdd7 -r b340a527add9 basic.cpp --- a/basic.cpp Sat Oct 15 13:29:37 2016 +0000 +++ b/basic.cpp Sat Oct 15 13:51:39 2016 +0000 @@ -1,8 +1,16 @@ /* University of York Robotics Laboratory PsiSwarm Library: Psi-BASIC Interpretter Code * + * Copyright 2016 University of York + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 + * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and limitations under the License. + * * File: basic.cpp * - * (C) Dept. Electronics & Computer Science, University of York + * Dept. Electronics & Computer Science, University of York * James Hilder, Alexander Horsfield, Alan Millard, Homero Elizondo, Jon Timmis * * PsiSwarm Library Version: 0.7
diff -r 3cdd1a37cdd7 -r b340a527add9 basic.h --- a/basic.h Sat Oct 15 13:29:37 2016 +0000 +++ b/basic.h Sat Oct 15 13:51:39 2016 +0000 @@ -1,5 +1,13 @@ /* University of York Robotics Laboratory PsiSwarm Library: Psi-BASIC Interpretter Code Header File * + * Copyright 2016 University of York + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 + * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and limitations under the License. + * * File: basic.h * * (C) Dept. Electronics & Computer Science, University of York
diff -r 3cdd1a37cdd7 -r b340a527add9 colour.cpp --- a/colour.cpp Sat Oct 15 13:29:37 2016 +0000 +++ b/colour.cpp Sat Oct 15 13:51:39 2016 +0000 @@ -1,5 +1,13 @@ /* University of York Robotics Laboratory PsiSwarm Library: Colour Sensors Source File * + * Copyright 2016 University of York + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 + * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and limitations under the License. + * * File: colour.cpp * * (C) Dept. Electronics & Computer Science, University of York
diff -r 3cdd1a37cdd7 -r b340a527add9 colour.h --- a/colour.h Sat Oct 15 13:29:37 2016 +0000 +++ b/colour.h Sat Oct 15 13:51:39 2016 +0000 @@ -1,5 +1,13 @@ /* University of York Robotics Laboratory PsiSwarm Library: Colour Sensors Header File * + * Copyright 2016 University of York + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 + * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and limitations under the License. + * * File: colour.h * * (C) Dept. Electronics & Computer Science, University of York
diff -r 3cdd1a37cdd7 -r b340a527add9 dances.cpp --- a/dances.cpp Sat Oct 15 13:29:37 2016 +0000 +++ b/dances.cpp Sat Oct 15 13:51:39 2016 +0000 @@ -1,4 +1,12 @@ /* University of York Robotics Laboratory PsiSwarm Library: Dances Source File + * + * Copyright 2016 University of York + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 + * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and limitations under the License. * * Library of simple predetermined movements *
diff -r 3cdd1a37cdd7 -r b340a527add9 dances.h --- a/dances.h Sat Oct 15 13:29:37 2016 +0000 +++ b/dances.h Sat Oct 15 13:51:39 2016 +0000 @@ -1,5 +1,13 @@ /* University of York Robotics Laboratory PsiSwarm Library: Dances Header File * + * Copyright 2016 University of York + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 + * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and limitations under the License. + * * Library of simple predetermined movements * * File: dances.h
diff -r 3cdd1a37cdd7 -r b340a527add9 demo.cpp --- a/demo.cpp Sat Oct 15 13:29:37 2016 +0000 +++ b/demo.cpp Sat Oct 15 13:51:39 2016 +0000 @@ -1,4 +1,12 @@ /* University of York Robotics Laboratory PsiSwarm Library: Demo Mode Source File + * + * Copyright 2016 University of York + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 + * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and limitations under the License. * * File: demo.cpp *
diff -r 3cdd1a37cdd7 -r b340a527add9 demo.h --- a/demo.h Sat Oct 15 13:29:37 2016 +0000 +++ b/demo.h Sat Oct 15 13:51:39 2016 +0000 @@ -1,5 +1,13 @@ /* University of York Robotics Laboratory PsiSwarm Library: Demo Mode Header File * + * Copyright 2016 University of York + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 + * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and limitations under the License. + * * File: demo.h * * (C) Dept. Electronics & Computer Science, University of York
diff -r 3cdd1a37cdd7 -r b340a527add9 display.cpp --- a/display.cpp Sat Oct 15 13:29:37 2016 +0000 +++ b/display.cpp Sat Oct 15 13:51:39 2016 +0000 @@ -1,5 +1,13 @@ /* University of York Robotics Laboratory PsiSwarm Library: Display Driver Source File * + * Copyright 2016 University of York + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 + * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and limitations under the License. + * * File: display.cpp * * (C) Dept. Electronics & Computer Science, University of York
diff -r 3cdd1a37cdd7 -r b340a527add9 display.h --- a/display.h Sat Oct 15 13:29:37 2016 +0000 +++ b/display.h Sat Oct 15 13:51:39 2016 +0000 @@ -1,5 +1,13 @@ /* University of York Robotics Laboratory PsiSwarm Library: Display Driver Header File * + * Copyright 2016 University of York + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 + * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and limitations under the License. + * * File: display.h * * (C) Dept. Electronics & Computer Science, University of York
diff -r 3cdd1a37cdd7 -r b340a527add9 eprom.cpp --- a/eprom.cpp Sat Oct 15 13:29:37 2016 +0000 +++ b/eprom.cpp Sat Oct 15 13:51:39 2016 +0000 @@ -1,4 +1,12 @@ /** University of York Robotics Laboratory PsiSwarm Library: Eprom Functions Source File + * + * Copyright 2016 University of York + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 + * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and limitations under the License. * * File: eprom.cpp *
diff -r 3cdd1a37cdd7 -r b340a527add9 eprom.h --- a/eprom.h Sat Oct 15 13:29:37 2016 +0000 +++ b/eprom.h Sat Oct 15 13:51:39 2016 +0000 @@ -1,5 +1,13 @@ /** University of York Robotics Laboratory PsiSwarm Library: Eprom Functions Header File * + * Copyright 2016 University of York + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 + * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and limitations under the License. + * * File: eprom.h * * (C) Dept. Electronics & Computer Science, University of York
diff -r 3cdd1a37cdd7 -r b340a527add9 i2c.cpp --- a/i2c.cpp Sat Oct 15 13:29:37 2016 +0000 +++ b/i2c.cpp Sat Oct 15 13:51:39 2016 +0000 @@ -1,4 +1,12 @@ /* University of York Robotics Laboratory PsiSwarm Library: I2C Source File + * + * Copyright 2016 University of York + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 + * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and limitations under the License. * * File: i2c.cpp *
diff -r 3cdd1a37cdd7 -r b340a527add9 i2c.h --- a/i2c.h Sat Oct 15 13:29:37 2016 +0000 +++ b/i2c.h Sat Oct 15 13:51:39 2016 +0000 @@ -1,5 +1,13 @@ /* University of York Robotics Laboratory PsiSwarm Library: I2C Header File * + * Copyright 2016 University of York + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 + * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and limitations under the License. + * * File: i2c.h * * (C) Dept. Electronics & Computer Science, University of York
diff -r 3cdd1a37cdd7 -r b340a527add9 led.cpp --- a/led.cpp Sat Oct 15 13:29:37 2016 +0000 +++ b/led.cpp Sat Oct 15 13:51:39 2016 +0000 @@ -1,5 +1,13 @@ /* University of York Robotics Laboratory PsiSwarm Library: LED Functions Source File * + * Copyright 2016 University of York + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 + * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and limitations under the License. + * * File: led.cpp * * (C) Dept. Electronics & Computer Science, University of York
diff -r 3cdd1a37cdd7 -r b340a527add9 led.h --- a/led.h Sat Oct 15 13:29:37 2016 +0000 +++ b/led.h Sat Oct 15 13:51:39 2016 +0000 @@ -1,5 +1,13 @@ /* University of York Robotics Laboratory PsiSwarm Library: LED Functions Header File * + * Copyright 2016 University of York + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 + * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and limitations under the License. + * * File: led.h * * (C) Dept. Electronics & Computer Science, University of York
diff -r 3cdd1a37cdd7 -r b340a527add9 motors.cpp --- a/motors.cpp Sat Oct 15 13:29:37 2016 +0000 +++ b/motors.cpp Sat Oct 15 13:51:39 2016 +0000 @@ -1,4 +1,12 @@ /* University of York Robotics Laboratory PsiSwarm Library: Motor Functions Source File + * + * Copyright 2016 University of York + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 + * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and limitations under the License. * * File: motors.cpp *
diff -r 3cdd1a37cdd7 -r b340a527add9 motors.h --- a/motors.h Sat Oct 15 13:29:37 2016 +0000 +++ b/motors.h Sat Oct 15 13:51:39 2016 +0000 @@ -1,5 +1,13 @@ /* University of York Robotics Laboratory PsiSwarm Library: Motor Functions Header File * + * Copyright 2016 University of York + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 + * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and limitations under the License. + * * File: motors.h * * (C) Dept. Electronics & Computer Science, University of York
diff -r 3cdd1a37cdd7 -r b340a527add9 pic.cpp --- a/pic.cpp Sat Oct 15 13:29:37 2016 +0000 +++ b/pic.cpp Sat Oct 15 13:51:39 2016 +0000 @@ -1,5 +1,13 @@ /* University of York Robotics Laboratory PsiSwarm Library: PIC and Audio Driver Source File * + * Copyright 2016 University of York + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 + * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and limitations under the License. + * * File: pic.cpp * * (C) Dept. Electronics & Computer Science, University of York
diff -r 3cdd1a37cdd7 -r b340a527add9 pic.h --- a/pic.h Sat Oct 15 13:29:37 2016 +0000 +++ b/pic.h Sat Oct 15 13:51:39 2016 +0000 @@ -1,5 +1,13 @@ /* University of York Robotics Laboratory PsiSwarm Library: PIC and Audio Driver Header File * + * Copyright 2016 University of York + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 + * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and limitations under the License. + * * File: pic.h * * (C) Dept. Electronics & Computer Science, University of York
diff -r 3cdd1a37cdd7 -r b340a527add9 psiswarm.cpp --- a/psiswarm.cpp Sat Oct 15 13:29:37 2016 +0000 +++ b/psiswarm.cpp Sat Oct 15 13:51:39 2016 +0000 @@ -1,4 +1,12 @@ /* University of York Robotics Laboratory PsiSwarm Library: PsiSwarm Core Source File + * + * Copyright 2016 University of York + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 + * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and limitations under the License. * * File: psiswarm.cpp *
diff -r 3cdd1a37cdd7 -r b340a527add9 psiswarm.h --- a/psiswarm.h Sat Oct 15 13:29:37 2016 +0000 +++ b/psiswarm.h Sat Oct 15 13:51:39 2016 +0000 @@ -1,5 +1,13 @@ /* University of York Robotics Laboratory PsiSwarm Library: PsiSwarm Core Header File * + * Copyright 2016 University of York + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 + * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and limitations under the License. + * * File: psiswarm.h * * (C) Dept. Electronics & Computer Science, University of York
diff -r 3cdd1a37cdd7 -r b340a527add9 sensors.cpp --- a/sensors.cpp Sat Oct 15 13:29:37 2016 +0000 +++ b/sensors.cpp Sat Oct 15 13:51:39 2016 +0000 @@ -1,4 +1,12 @@ /* University of York Robotics Laboratory PsiSwarm Library: Sensor Functions Source File + * + * Copyright 2016 University of York + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 + * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and limitations under the License. * * File: sensors.cpp *
diff -r 3cdd1a37cdd7 -r b340a527add9 sensors.h --- a/sensors.h Sat Oct 15 13:29:37 2016 +0000 +++ b/sensors.h Sat Oct 15 13:51:39 2016 +0000 @@ -1,5 +1,13 @@ /* University of York Robotics Laboratory PsiSwarm Library: Sensor Functions Header File * + * Copyright 2016 University of York + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 + * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and limitations under the License. + * * File: sensors.h * * (C) Dept. Electronics & Computer Science, University of York
diff -r 3cdd1a37cdd7 -r b340a527add9 serial.cpp --- a/serial.cpp Sat Oct 15 13:29:37 2016 +0000 +++ b/serial.cpp Sat Oct 15 13:51:39 2016 +0000 @@ -1,4 +1,12 @@ /* University of York Robotics Laboratory PsiSwarm Library: Serial Control Source File + * + * Copyright 2016 University of York + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 + * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and limitations under the License. * * File: serial.cpp *
diff -r 3cdd1a37cdd7 -r b340a527add9 serial.h --- a/serial.h Sat Oct 15 13:29:37 2016 +0000 +++ b/serial.h Sat Oct 15 13:51:39 2016 +0000 @@ -1,5 +1,13 @@ /* University of York Robotics Laboratory PsiSwarm Library: Serial Control Header File * + * Copyright 2016 University of York + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 + * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and limitations under the License. + * * File: serial.h * * (C) Dept. Electronics & Computer Science, University of York
diff -r 3cdd1a37cdd7 -r b340a527add9 settings.h --- a/settings.h Sat Oct 15 13:29:37 2016 +0000 +++ b/settings.h Sat Oct 15 13:51:39 2016 +0000 @@ -1,5 +1,13 @@ /* University of York Robotics Laboratory PsiSwarm Library: PsiSwarm Settings File * + * Copyright 2016 University of York + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 + * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and limitations under the License. + * * File: settings.h * * (C) Dept. Electronics & Computer Science, University of York