Merge branch 'master' of gitlab.control.lth.se:letter2martin/turtlerob1

get_audio.m

+function signal = get_audio()
+
+global bass;
+
+
+persistent lastLastIndex;
+persistent lastIndex;
+persistent fs;
+persistent p;
+
+
+if isempty(fs)
+    p = bass.Audio();
+    fs = p.Audio.sampleRate;
+    lastLastIndex = 0;
+    lastIndex = 0;
+    
+end
+p = bass.Audio();
+
+
+
+pause(0.1)
+lastIndex = p.Audio.lastFrameIndex;
+diffIndex = lastIndex - lastLastIndex;
+tempLeft = cell2mat(p.Audio.left);
+tempLeft = tempLeft(max(end-diffIndex+1,1):end);
+
+tempRight = cell2mat(p.Audio.right);
+tempRight = tempRight(max(end-diffIndex+1,1):end);
+
+
+lastLastIndex = lastIndex;
+
+signal = [tempLeft; tempRight];
+
+end
\ No newline at end of file

startup_rob.m

+
+global client
+global bass
+
+addpath(genpath('~/openrobots/lib/matlab/'));
+client = genomix.client('turtlebot1-wifi:8080');
+bass = client.load('bass');
+bass.Acquire('-a',24414,2048,80);
\ No newline at end of file