Library for the PsiSwarm Robot - Version 0.4
pic.cpp
- Committer:
- jah128
- Date:
- 2016-03-11
- Revision:
- 2:c6986ee3c7c5
- Parent:
- 0:d6269d17c8cf
File content as of revision 2:c6986ee3c7c5:
/* University of York Robotics Laboratory PsiSwarm Library: PIC and Audio Driver Source File * * File: pic.cpp * * (C) Dept. Electronics & Computer Science, University of York * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis * * PsiSwarm Library Version: 0.41 * * March 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; }