Diff: sound.cpp

Revision:

12:878c6e9d9e60

Parent:

11:312663037b8c

Child:

16:50686c07ad07

--- a/sound.cpp	Sun Oct 16 21:06:15 2016 +0000
+++ b/sound.cpp	Mon Oct 17 13:09:10 2016 +0000
@@ -1,11 +1,11 @@
 /* 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. 
+ * 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. 
+ * 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]
@@ -24,34 +24,37 @@
 #include "psiswarm.h"
 
 
-void Sound::play_audio_string(char * tune){
+void Sound::play_audio_string(char * tune)
+{
     char length = strlen(tune);
-    play_tune(tune,length);   
+    play_tune(tune,length);
 }
 
-void Sound::play_tune(char * tune, char 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);
+    psi.debug(to_send);
     primary_i2c.write(PIC_ADDRESS,to_send,length+2,false);
 }
 
 
-char Sound::IF_check_pic_firmware(){
+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");
+    primary_i2c.write(PIC_ADDRESS,"I",1,false);
+    wait(0.1);
+    primary_i2c.read(PIC_ADDRESS,buffer,6);
+    psi.debug(buffer);
+    if(buffer[0] != 'F' || buffer[1] != 'W') {
+        psi.debug("WARNING:  Cannot read information from PIC microcontroller");
         return 1;
     }
-    debug(buffer);
+    psi.debug(buffer);
     return 0;
 }
\ No newline at end of file