RC Spider Robot

RC Spider Robot

Postby SongGyusik » Thu Dec 03, 2015 2:46 pm

Subject

Remote Spider Robot Control with PHPoC Blue


Items

1. Spider robot


2. Motor driver


3. Universal board


4. Battery holder


5. Imageset




Connection

Image

[Motor] [Motor Driver]
A-1 ------ A-O1
A-2 ------ A-O2
B-1 ------ B-O1
B-2 ------ B-O2

[Motor Driver] [PHPoC Blue]
A-IN1(PH) ------- 12
A-IN2(EN) ------- 13
B-IN1(PH) ------- 14
B-IN2(EN) ------- 15
GND ------------- GND
VIN -------------- PWR5
VCC ------------- 3.3V
MD -------------- 3.3V


System

Image


Installation

Image


Source Codes

1. task0.php
Code: Select all
<?php

if(_SERVER("REQUEST_METHOD"))
    exit;    // avoid php execution via http request
    
include_once 
"/lib/sd_340.php";
include_once "/lib/sn_tcp_ws.php";

uio_setup(0, 12, "out low");        // uio0.12 - A phase
st_pwm_setup(0, 13, 0, 1000, "us"); // uio0.13 - A enable/PWM
uio_setup(0, 14, "out high");       // uio0.14 - B phase
st_pwm_setup(1, 15, 0, 1000, "us"); // uio0.15 - B enable/PWM

ws_setup(0, "rc_spider", "csv.phpoc");

$rwbuf = "";

function spider_drive($width, $phase, $uio_foot, $st_foot)
{
    uio_out(0, $uio_foot, $phase);
    st_pwm_width($st_foot, $width, 1000);
}

while(
1)
{
    if(ws_state(0) == TCP_CONNECTED)
    {
        $rlen = ws_read_line(0, $rwbuf);
        
        if
($rlen)
        {
            $rValue = (int)$rwbuf;
            echo "$rValue\r\n";
            
            switch
($rValue)
            {
                    case 0: // 
                        echo "Stay \r\n";
                        spider_drive(0, LOW, 12, 0);        // Left Stop
                        spider_drive(0, HIGH, 14, 1);    // Right Stop
                          break;                
                    case 1
: // Go
                        echo "Go \r\n";
                        spider_drive(800, HIGH, 14, 1);    // Left Go
                        spider_drive(800, LOW, 12, 0);    // Right Go                                  
                           break;
                    case 2: // Turn Right
                        echo "Turn Right \r\n";
                        spider_drive(800, HIGH, 14, 1);    // Left Go
                        spider_drive(800, HIGH, 12, 0);    // Right Back                    
                        break;
                    case 3: // Turn Left
                        echo "Turn Left \r\n";                    
                        spider_drive
(800, LOW, 14, 1);    // Left Back
                        spider_drive(800, LOW, 12, 0);    // Right Go                    
                        break;
                    case 4: // Back
                        echo "Back \r\n";
                        spider_drive(800, LOW, 14, 1);    // Left Back
                        spider_drive(800, HIGH, 12, 0);    // Right Back                    
                        break;
                    default:
                        echo "Unknown rValue[$rValue] \r\n";
                        spider_drive(0, LOW, 0, 0);        // Left Stop
                        spider_drive(0, HIGH, 2, 1);     // Right Stop                       
                    break;
            }
        }
    }
    else
    
{
        spider_drive(0, LOW, 12, 0);
        spider_drive(0, HIGH, 14, 1);        
    
}
}

?>


2. index.php

Code: Select all
<?php
    $ws_host 
= _SERVER("HTTP_HOST");
?>
<!DOCTYPE html>
<html>
<head>
<title>PHPoC Spider</title>
<meta name="viewport" content="width=device-width, initial-scale=1.0, minimum-scale=1.0, maximum-scale=1.0, user-scalable=no"/>
<style type="text/css">
#area {
    margin-right: auto;
    margin-left: auto;
    height: 687px; 
    width: 501px; 
    background: url(joystick.png) no-repeat #fff; 
    position: relative;
    margin-bottom: 10px;
    border: 1px solid #000;
}

#arrow_top {
    position: absolute;
    background: url(arrow_top.png) no-repeat; 
    width:70px;
    height:63px;
    left: 215px;
    top: 100px;
}

#arrow_bottom {
    position: absolute;
    background: url(arrow_bottom.png) no-repeat; 
    width:70px;
    height:63px;
    left:215px;
    top:312px;
}

#arrow_right {
    position: absolute;
    background: url(arrow_right.png) no-repeat; 
    width:63px;
    height:70px;
    left:325px;
    top:200px;
}

#arrow_left {
    position: absolute;
    background: url(arrow_left.png) no-repeat; 
    width:63px;
    height:70px;
    left:115px;
    top:200px;
}

</style>
<script type="text/javascript">
function init() {

    ws = new WebSocket("ws://<?echo $ws_host?>/rc_spider", "csv.phpoc");
    document.getElementById("ws_state").innerHTML = "CONNECTING";
    
    ws.onopen  = function(){ document.getElementById("ws_state").innerHTML = "OPEN" };
    ws.onclose = function(){ document.getElementById("ws_state").innerHTML = "CLOSED"};
    ws.onerror = function(){ alert("websocket error " + this.url) };
 
    ws.onmessage = ws_onmessage;    

    arrow_top.width = 70;
    arrow_top.height = 63;
    
    arrow_right.width = 63;
    arrow_right.height = 70;

    arrow_bottom.width = 70;
    arrow_bottom.height = 63;
    
    arrow_left.width = 63;
    arrow_left.height = 70;    

    arrow_top.addEventListener("touchstart", mouse_down);
    arrow_top.addEventListener("touchend", mouse_up);
    arrow_top.addEventListener("touchcancel", mouse_up);
    arrow_top.addEventListener("mousedown", mouse_down);
    arrow_top.addEventListener("mouseup", mouse_up);
    arrow_top.addEventListener("mouseout", mouse_up);    
    
    arrow_bottom.addEventListener("touchstart", mouse_down);
    arrow_bottom.addEventListener("touchend", mouse_up);
    arrow_bottom.addEventListener("touchcancel", mouse_up);
    arrow_bottom.addEventListener("mousedown", mouse_down);
    arrow_bottom.addEventListener("mouseup", mouse_up);
    arrow_bottom.addEventListener("mouseout", mouse_up);    
    
    arrow_right.addEventListener("touchstart", mouse_down);
    arrow_right.addEventListener("touchend", mouse_up);
    arrow_right.addEventListener("touchcancel", mouse_up);
    arrow_right.addEventListener("mousedown", mouse_down);
    arrow_right.addEventListener("mouseup", mouse_up);
    arrow_right.addEventListener("mouseout", mouse_up);        
    
    arrow_left.addEventListener("touchstart", mouse_down);
    arrow_left.addEventListener("touchend", mouse_up);
    arrow_left.addEventListener("touchcancel", mouse_up);
    arrow_left.addEventListener("mousedown", mouse_down);
    arrow_left.addEventListener("mouseup", mouse_up);
    arrow_left.addEventListener("mouseout", mouse_up);            
}

function ws_onmessage(e_msg)
{
    e_msg = e_msg || window.event; // MessageEvent
 
    alert("msg : " + e_msg.data);
}

function mouse_down() {
    check_position(event.target.id);
    event.preventDefault();    
}

function mouse_up() {
    check_position("stop");
    event.preventDefault();    
}

function check_position(position) {

    var event_position = 0;

    if ( position == "arrow_top") {
        event_position = 1;
    } else if ( position == "arrow_right") {
        event_position = 2;    
    } else if ( position == "arrow_left") {
        event_position = 3;    
    } else if ( position == "arrow_bottom") {
        event_position = 4;    
    } else {
        event_position = 0;    
    }

    if(ws.readyState == 1)
        ws.send(event_position + "\r\n");    
}

window.onload = init;
</script>
</head>
<body>

<div id="area">
    <div id="arrow_top"></div>
    <div id="arrow_bottom"></div>
    <div id="arrow_right"></div>
    <div id="arrow_left"></div>
</div>
<p>
WebSocket : <span id="ws_state">null</span><br>
<span id="debug"></span>
</p>
</body>
</html>



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SongGyusik
 
Posts: 11
Joined: Tue Mar 11, 2014 4:13 pm

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