James Hilder / PsiSwarmV9-Fork

Psi Swarm robot library version 0.9

Fork of PsiSwarmV9 by Psi Swarm Robot

sound.cpp@20:1bc6c6dc477b, 2018-05-14 (annotated)

Committer:
jah128
Date:
Mon May 14 15:35:38 2018 +0000
Revision:
20:1bc6c6dc477b
Parent:
16:50686c07ad07 
Updated?

Who changed what in which revision?

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jah128 11:312663037b8c 1 /* University of York Robotics Laboratory PsiSwarm Library: Audio Driver using PIC coprocessor Source File
jah128 12:878c6e9d9e60 2 *
jah128 16:50686c07ad07 3 * Copyright 2017 University of York
jah128 11:312663037b8c 4 *
jah128 12:878c6e9d9e60 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 12:878c6e9d9e60 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 16:50686c07ad07 16 * PsiSwarm Library Version: 0.9
jah128 11:312663037b8c 17 *
jah128 16:50686c07ad07 18 * June 2017
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 12:878c6e9d9e60 27 void Sound::play_audio_string(char * tune)
jah128 12:878c6e9d9e60 28 {
jah128 11:312663037b8c 29 char length = strlen(tune);
jah128 12:878c6e9d9e60 30 play_tune(tune,length);
jah128 11:312663037b8c 31 }
jah128 11:312663037b8c 32
jah128 12:878c6e9d9e60 33 void Sound::play_tune(char * tune, char length)
jah128 12:878c6e9d9e60 34 {
jah128 11:312663037b8c 35 char to_send [length+3];
jah128 11:312663037b8c 36 char start_array[2];
jah128 11:312663037b8c 37 start_array [0] = 'S';
jah128 11:312663037b8c 38 start_array [1] = length;
jah128 11:312663037b8c 39 strcpy(to_send,start_array);
jah128 11:312663037b8c 40 strncat(to_send,tune,length);
jah128 12:878c6e9d9e60 41 psi.debug(to_send);
jah128 11:312663037b8c 42 primary_i2c.write(PIC_ADDRESS,to_send,length+2,false);
jah128 11:312663037b8c 43 }
jah128 11:312663037b8c 44
jah128 11:312663037b8c 45
jah128 12:878c6e9d9e60 46 char Sound::IF_check_pic_firmware()
jah128 12:878c6e9d9e60 47 {
jah128 11:312663037b8c 48 char buffer[6];
jah128 11:312663037b8c 49 buffer[0] = 0;
jah128 12:878c6e9d9e60 50 primary_i2c.write(PIC_ADDRESS,"I",1,false);
jah128 12:878c6e9d9e60 51 wait(0.1);
jah128 12:878c6e9d9e60 52 primary_i2c.read(PIC_ADDRESS,buffer,6);
jah128 12:878c6e9d9e60 53 psi.debug(buffer);
jah128 12:878c6e9d9e60 54 if(buffer[0] != 'F' || buffer[1] != 'W') {
jah128 12:878c6e9d9e60 55 psi.debug("WARNING: Cannot read information from PIC microcontroller");
jah128 11:312663037b8c 56 return 1;
jah128 11:312663037b8c 57 }
jah128 12:878c6e9d9e60 58 psi.debug(buffer);
jah128 11:312663037b8c 59 return 0;
jah128 11:312663037b8c 60 }