James Hilder / PsiSwarmV9-Fork

Psi Swarm robot library version 0.9

Fork of PsiSwarmV9 by Psi Swarm Robot

sound.cpp@11:312663037b8c, 2016-10-16 (annotated)

Committer:
jah128
Date:
Sun Oct 16 21:06:15 2016 +0000
Revision:
11:312663037b8c
Child:
12:878c6e9d9e60
Added more classes

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 11:312663037b8c 1 /* University of York Robotics Laboratory PsiSwarm Library: Audio Driver using PIC coprocessor Source File
jah128 11:312663037b8c 2 *
jah128 11:312663037b8c 3 * Copyright 2016 University of York
jah128 11:312663037b8c 4 *
jah128 11:312663037b8c 5 * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License.
jah128 11:312663037b8c 6 * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
jah128 11:312663037b8c 7 * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS
jah128 11:312663037b8c 8 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
jah128 11:312663037b8c 9 * See the License for the specific language governing permissions and limitations under the License.
jah128 11:312663037b8c 10 *
jah128 11:312663037b8c 11 * File: sound.cpp [formerly pic.cpp]
jah128 11:312663037b8c 12 *
jah128 11:312663037b8c 13 * (C) Dept. Electronics & Computer Science, University of York
jah128 11:312663037b8c 14 * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
jah128 11:312663037b8c 15 *
jah128 11:312663037b8c 16 * PsiSwarm Library Version: 0.8
jah128 11:312663037b8c 17 *
jah128 11:312663037b8c 18 * October 2016
jah128 11:312663037b8c 19 *
jah128 11:312663037b8c 20 *
jah128 11:312663037b8c 21 */
jah128 11:312663037b8c 22
jah128 11:312663037b8c 23
jah128 11:312663037b8c 24 #include "psiswarm.h"
jah128 11:312663037b8c 25
jah128 11:312663037b8c 26
jah128 11:312663037b8c 27 void Sound::play_audio_string(char * tune){
jah128 11:312663037b8c 28 char length = strlen(tune);
jah128 11:312663037b8c 29 play_tune(tune,length);
jah128 11:312663037b8c 30 }
jah128 11:312663037b8c 31
jah128 11:312663037b8c 32 void Sound::play_tune(char * tune, char length){
jah128 11:312663037b8c 33 char to_send [length+3];
jah128 11:312663037b8c 34 char start_array[2];
jah128 11:312663037b8c 35 start_array [0] = 'S';
jah128 11:312663037b8c 36 start_array [1] = length;
jah128 11:312663037b8c 37 strcpy(to_send,start_array);
jah128 11:312663037b8c 38 strncat(to_send,tune,length);
jah128 11:312663037b8c 39 debug(to_send);
jah128 11:312663037b8c 40 primary_i2c.write(PIC_ADDRESS,to_send,length+2,false);
jah128 11:312663037b8c 41 }
jah128 11:312663037b8c 42
jah128 11:312663037b8c 43
jah128 11:312663037b8c 44 char Sound::IF_check_pic_firmware(){
jah128 11:312663037b8c 45 char buffer[6];
jah128 11:312663037b8c 46 buffer[0] = 0;
jah128 11:312663037b8c 47 primary_i2c.write(PIC_ADDRESS,"I",1,false);
jah128 11:312663037b8c 48 wait(0.1);
jah128 11:312663037b8c 49 primary_i2c.read(PIC_ADDRESS,buffer,6);
jah128 11:312663037b8c 50 debug(buffer);
jah128 11:312663037b8c 51 if(buffer[0] != 'F' || buffer[1] != 'W'){
jah128 11:312663037b8c 52 debug("WARNING: Cannot read information from PIC microcontroller");
jah128 11:312663037b8c 53 return 1;
jah128 11:312663037b8c 54 }
jah128 11:312663037b8c 55 debug(buffer);
jah128 11:312663037b8c 56 return 0;
jah128 11:312663037b8c 57 }