Science Memeseum / Mbed 2 deprecated BeaconDemo_RobotCode

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Dependencies:   mbed

Fork of PsiSwarm-BeaconDemo_Bluetooth by James Wilson

PsiSwarm/pic.cpp@22:3643fc1c82b6, 2017-03-08 (annotated)

Committer:
GusZ92
Date:
Wed Mar 08 11:49:39 2017 +0000
Revision:
22:3643fc1c82b6
Parent:
6:ff3c66f7372b 
1. Flocking tune up threshold value; 2. Change the random walk to obs_avoid(new added)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 4:25039ea5eb09 1 /* University of York Robotics Laboratory PsiSwarm Library: PIC and Audio Driver Source File
jah128 4:25039ea5eb09 2 *
jah128 4:25039ea5eb09 3 * File: pic.cpp
jah128 4:25039ea5eb09 4 *
jah128 6:ff3c66f7372b 5 * (C) Dept. Electronics & Computer Science, University of York
jah128 6:ff3c66f7372b 6 * James Hilder, Alan Millard, Homero Elizondo, Jon Timmis
jah128 4:25039ea5eb09 7 *
jah128 6:ff3c66f7372b 8 * PsiSwarm Library Version: 0.3
jah128 4:25039ea5eb09 9 *
jah128 4:25039ea5eb09 10 * October 2015
jah128 4:25039ea5eb09 11 *
jah128 4:25039ea5eb09 12 */
jah128 4:25039ea5eb09 13
jah128 4:25039ea5eb09 14
jah128 4:25039ea5eb09 15 #include "psiswarm.h"
jah128 4:25039ea5eb09 16
jah128 4:25039ea5eb09 17
jah128 4:25039ea5eb09 18 void play_audio_string(char * tune){
jah128 4:25039ea5eb09 19 char length = strlen(tune);
jah128 4:25039ea5eb09 20 play_tune(tune,length);
jah128 4:25039ea5eb09 21 }
jah128 4:25039ea5eb09 22
jah128 4:25039ea5eb09 23 void play_tune(char * tune, char length){
jah128 4:25039ea5eb09 24 char to_send [length+3];
jah128 4:25039ea5eb09 25 char start_array[2];
jah128 4:25039ea5eb09 26 start_array [0] = 'S';
jah128 4:25039ea5eb09 27 start_array [1] = length;
jah128 4:25039ea5eb09 28 strcpy(to_send,start_array);
jah128 4:25039ea5eb09 29 strncat(to_send,tune,length);
jah128 4:25039ea5eb09 30 debug(to_send);
jah128 4:25039ea5eb09 31 primary_i2c.write(PIC_ADDRESS,to_send,length+2,false);
jah128 4:25039ea5eb09 32 }
jah128 4:25039ea5eb09 33
jah128 4:25039ea5eb09 34
jah128 4:25039ea5eb09 35 char IF_check_pic_firmware(){
jah128 4:25039ea5eb09 36 char buffer[6];
jah128 4:25039ea5eb09 37 buffer[0] = 0;
jah128 4:25039ea5eb09 38 primary_i2c.write(PIC_ADDRESS,"I",1,false);
jah128 4:25039ea5eb09 39 wait(0.1);
jah128 4:25039ea5eb09 40 primary_i2c.read(PIC_ADDRESS,buffer,6);
jah128 4:25039ea5eb09 41 debug(buffer);
jah128 4:25039ea5eb09 42 if(buffer[0] != 'F' || buffer[1] != 'W'){
jah128 4:25039ea5eb09 43 debug("WARNING: Cannot read information from PIC microcontroller");
jah128 4:25039ea5eb09 44 return 1;
jah128 4:25039ea5eb09 45 }
jah128 4:25039ea5eb09 46 debug(buffer);
jah128 4:25039ea5eb09 47 return 0;
jah128 4:25039ea5eb09 48 }