Psi Swarm robot library version 0.9
Fork of PsiSwarmV8_CPP by
sound.cpp
- Committer:
- jah128
- Date:
- 2016-10-17
- Revision:
- 12:878c6e9d9e60
- Parent:
- 11:312663037b8c
File content as of revision 12:878c6e9d9e60:
/* 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); psi.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); psi.debug(buffer); if(buffer[0] != 'F' || buffer[1] != 'W') { psi.debug("WARNING: Cannot read information from PIC microcontroller"); return 1; } psi.debug(buffer); return 0; }