Homer
Published © GPL3+

PHPoC - Scratch Programming to Control Robot

Let's "scratch" with PHPoC. Have fun programming a spider robot controller just by dropping some blocks!

BeginnerFull instructions provided1 hour1,145

Things used in this project

Hardware components

PHPoC Blue
PHPoC Blue
×1
Spider Robot
×1
Battery
In this project, I use a 3.7V - 2.5A battery as a power source. You can choose other power sources with higher voltage (around 5V), which are suitable for both PHPoC Blue and DC Motor Controller.
×1
PHPoC DC Motor Controller (S-type or T-type)
PHPoC DC Motor Controller (S-type or T-type)
×1

Software apps and online services

Scratch Editor 2.0 Offline
A free educational platform developed by MIT Media Lab's Lifelong Kindergarten group
Node.js

Story

Read more

Code

task0.php

PHP
This script is used to process data and execute commands on PHPoC board.
<?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";
include_once "/lib/sd_spc.php";

define("RC_SPIDER_SID" , 14);
define("WIDTH_MIN", 420);
define("WIDTH_MAX", 1000);
define("PWM_PERIOD", 1000);
define("WS_ID", 0);
define("WS_PATH", "scratch_test");

function dc_init()
{
	spc_reset();
	spc_sync_baud(115200);
}

function dc_pwm_width($dc_id, $pwm_width, $pwm_period, $pol_dir = "+")
{
	if(($dc_id < 1) || ($dc_id > 2))
		exit("dc_pwm_width: dc_id out of range $dc_id\r\n");
	
	spc_request_dev(RC_SPIDER_SID, "dc$dc_id pwm set pol $pol_dir");
	spc_request_dev(RC_SPIDER_SID, "dc$dc_id pwm set period $pwm_period");
	spc_request_dev(RC_SPIDER_SID, "dc$dc_id pwm set width $pwm_width");

}

// Define Digital Input ports
for($i=12; $i<=19;$i++){
	uio_setup(0, $i, "in_pu"); 
}

// Define Digital Output ports
uio_setup(0, 8, "out high");
uio_setup(0, 9, "out high");
uio_setup(0, 30, "out high");
uio_setup(0, 31, "out high");


ws_setup(WS_ID, WS_PATH, "csv.phpoc");
dc_init();
$rwbuf = "";

while(1)
{
	if(ws_state(WS_ID) == TCP_CONNECTED)
	{
		$rlen = ws_read_line(WS_ID, $rwbuf);

		if($rlen)
		{
			$cmd = explode("/",$rwbuf);
			switch($cmd[1]){
			case "dW":
				if ($cmd[3] == "LOW")
					uio_out(0, (int)$cmd[2], LOW);			
				else
					uio_out(0, (int)$cmd[2], HIGH);
				break;
			case "poll":
				$ret = "";					
				for($pin=12; $pin<=19;$pin++){
					$d_in = uio_in(0, (int)$pin);
					$ret = $ret."dR/".(string)$pin." ".(string)$d_in."\n";
				}
				for($pin=0; $pin<=5;$pin++){
					adc_setup(0, $pin);
					$adc_in = adc_in(0, 30);
					$ret = $ret."aR/".(string)$pin." ".(string)$adc_in."\n";
				}
				ws_write(0, $ret);			
				usleep(200000);
				break;
			case "reset_all":
				uio_out(0, 8, HIGH);
				uio_out(0, 9, HIGH);
				uio_out(0, 30, HIGH);
				uio_out(0, 31, HIGH);
				dc_pwm_width(1,	0, PWM_PERIOD);
				dc_pwm_width(2,	0, PWM_PERIOD);
				break;				
			
			case "dcwW":
				$pwm_width = (int)$cmd[3];
				if (($pwm_width>=0)&&($pwm_width<=PWM_PERIOD)){
					dc_pwm_width((int)$cmd[2], $pwm_width, PWM_PERIOD, $cmd[4]);
				}
				break;
			case "dcpW":
				$pol_dir = "+";
				if ($cmd[3] == "CCW")
					$pol_dir = "-";		
				$percent = (int)$cmd[4];				
				if (($percent>=0)&&($percent<=100)){
					dc_pwm_width((int)$cmd[2], (int)round(PWM_PERIOD * $percent/100), PWM_PERIOD, $pol_dir);
				}
				break;
			case "srW":
				switch($cmd[2])
				{
				case "Stay":
					dc_pwm_width(1,	0, PWM_PERIOD);
					dc_pwm_width(2,	0, PWM_PERIOD); 
					break;						
				case "Go":
					dc_pwm_width(1,	800, PWM_PERIOD, "+");
					dc_pwm_width(2,	800, PWM_PERIOD, "-"); 	
					break;
				case "Turn right":
					dc_pwm_width(1,	800, PWM_PERIOD, "-");
					dc_pwm_width(2,	800, PWM_PERIOD, "-"); 
					break;
				case "Turn left":
					dc_pwm_width(1,	800, PWM_PERIOD, "+");
					dc_pwm_width(2,	800, PWM_PERIOD, "+"); 
					break;
				case "Back":
					dc_pwm_width(1,	800, PWM_PERIOD, "-");
					dc_pwm_width(2,	800, PWM_PERIOD, "+"); 
					break;					
				default:
					dc_pwm_width(1,	0, PWM_PERIOD);
					dc_pwm_width(2,	0, PWM_PERIOD); 
					break;			
				}
				break;	
			}			
		}
		else {
			dc_pwm_width(1,	0, PWM_PERIOD);
			dc_pwm_width(2,	0, PWM_PERIOD); 
		}
	}
	else {
		dc_pwm_width(1,	0, PWM_PERIOD);
		dc_pwm_width(2,	0, PWM_PERIOD); 
	}
}
 
?>

Credits

Homer

Homer

17 projects • 46 followers

Comments

Related channels and tags
  • PHPoC
  • Robotics