Diff: sound.cpp

Revision:

11:312663037b8c

Child:

12:878c6e9d9e60

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sound.cpp	Sun Oct 16 21:06:15 2016 +0000
@@ -0,0 +1,57 @@
+/* University of York Robotics Laboratory PsiSwarm Library: Audio Driver using PIC coprocessor 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: sound.cpp [formerly pic.cpp]
+ *
+ * (C) Dept. Electronics & Computer Science, University of York
+ * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
+ *
+ * PsiSwarm Library Version: 0.8
+ *
+ * October 2016
+ *
+ *
+ */
+
+
+#include "psiswarm.h"
+
+
+void Sound::play_audio_string(char * tune){
+    char length = strlen(tune);
+    play_tune(tune,length);   
+}
+
+void Sound::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 Sound::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;
+}
\ No newline at end of file