C++ Library for the PsiSwarm Robot - Version 0.7
Fork of PsiSwarmV7 by
pic.cpp
- Committer:
- jah128
- Date:
- 2016-10-16
- Revision:
- 7:aa5a4a257895
- Parent:
- 6:b340a527add9
File content as of revision 7:aa5a4a257895:
/* 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 * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis * * PsiSwarm Library Version: 0.7 * * October 2016 * * */ #include "psiswarm.h" void play_audio_string(char * tune){ char length = strlen(tune); play_tune(tune,length); } void play_tune(char * tune, char length){ char to_send [length+3]; char start_array[2]; start_array [0] = 'S'; start_array [1] = length; strcpy(to_send,start_array); strncat(to_send,tune,length); debug(to_send); primary_i2c.write(PIC_ADDRESS,to_send,length+2,false); } char IF_check_pic_firmware(){ char buffer[6]; buffer[0] = 0; primary_i2c.write(PIC_ADDRESS,"I",1,false); wait(0.1); primary_i2c.read(PIC_ADDRESS,buffer,6); debug(buffer); if(buffer[0] != 'F' || buffer[1] != 'W'){ debug("WARNING: Cannot read information from PIC microcontroller"); return 1; } debug(buffer); return 0; }