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This project is similar to this one, but the hardware components are different. Here I use DC Motor Controller expansion board for controlling spider robot. It seems that PES-2404 DC Motor Controller is a useful board to control DC motor.
Demo- Stack DC Motor Controller board to PHPoC Blue
- Connect DC Motor Controller to Spider Robot
Here, instead of connecting to GND and PWR pin of PHPoC Blue, I connect the GND and VM pins of DC Motor Controller directly to the battery in order to supply higher current.
Connect Spider Robot's Motors <---> DC Motor controller
- A-1 ------ M1+
- A-2 ------ M1-
- B-1 ------ M2+
- B-2 ------ M2-
Wiring
Web browser ---> PHPoC ---> Spider Robot
First, a WebSocket connection is established between PHPoC Blue and Web browser, in which PHPoC Blue is WS server, and Web browser is client. User interacts with Web browser via Web remote slide interface to control the movement of Spider Robot. Then, Web browser sends those data via WebSocket. After receiving those control data from the client, PHPoC (WS server), via DC Motor Controller, send the commands to control the motors on Spider Robot.
Source CodeSource code includes two files:
- index.php: This file contains client side code.
- task0.php: This file contains server side code.
<?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("WIDTH_MIN", 420);
define("WIDTH_MAX", 1000);
define("PWM_PERIOD", 1000);
define ("RC_SPIDER_SID" , 14);
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");
}
ws_setup(0, "rc_spider", "text.phpoc");
dc_init();
$rwbuf = "";
while(1)
{
if(ws_state(0) == TCP_CONNECTED)
{
$rlen = ws_read_line(0, $rwbuf);
if($rlen)
{
$slide_name = $rwbuf[0];
$slide_value = (int)substr($rwbuf,1);
$slide_motor = 0;
$abs_pwm_value = 0;
switch ($slide_name)
{
case 'A':
$slide_motor = 1;
break;
case 'B':
$slide_motor = 2;
$slide_value = -$slide_value;
break;
default:
echo "Unknown input slide[$slide_name] \r\n";
break;
}
if ($slide_value == 0)
{
dc_pwm_width($slide_motor, 0, PWM_PERIOD);
}
else
{
if ($slide_value<0)
{
$abs_pwm_value = WIDTH_MIN + (int)round((WIDTH_MAX - WIDTH_MIN)*(-1)*$slide_value/100) ;
dc_pwm_width($slide_motor, $abs_pwm_value, 1000,"-");
}
else
{
$abs_pwm_value = WIDTH_MIN + (int)round((WIDTH_MAX - WIDTH_MIN)*$slide_value/100) ;
dc_pwm_width($slide_motor, $abs_pwm_value, PWM_PERIOD,"+");
}
}
}
}
else
{
dc_pwm_width(1, 0, PWM_PERIOD);
dc_pwm_width(2, 0, PWM_PERIOD);
}
}
?>
<?php
$wrs_width = "400";
$wrs_length = "300";
$wrs_value_min = "-100";
$wrs_value_max = "100";
?>
<!DOCTYPE html>
<html>
<head>
<title>PHPoC - Web Remote Control for Spider Robot</title>
<meta name="viewport" content="width=device-width, initial-scale=0.7, maximum-scale=0.7">
<style>
body { text-align: center; font-size: 15pt; }
h1 { font-weight: bold; font-size: 25pt; }
h2 { font-weight: bold; font-size: 15pt; }
button { font-weight: bold; font-size: 15pt; }
</style>
<script>
var SLIDE_WIDTH = <?echo(int)$wrs_width/2?>;
var SLIDE_LENGTH = <?echo(int)$wrs_length?>;
var VALUE_MIN = <?echo(int)$wrs_value_min?>;
var VALUE_MAX = <?echo(int)$wrs_value_max?>;
var BUTTON_WIDTH = parseInt(SLIDE_WIDTH * 0.8);
var BUTTON_HEIGHT = parseInt(BUTTON_WIDTH / 2);
var SLIDE_HEIGHT = parseInt(SLIDE_LENGTH + BUTTON_HEIGHT * 1.1);
var slide_info = [ null, null ];
var ws;
function init()
{
var remote = document.getElementById("remote");
remote.width = SLIDE_WIDTH * 2;
remote.height = SLIDE_HEIGHT;
remote.style = "border:1px solid black";
slide_info[0] = {x:0, y:0, offset:0, state:false, identifier:null, ws_value:0};
slide_info[1] = {x:0, y:0, offset:0, state:false, identifier:null, ws_value:0};
slide_info[0].x = parseInt(SLIDE_WIDTH / 2);
slide_info[0].y = parseInt(SLIDE_HEIGHT / 2);
slide_info[1].x = parseInt(SLIDE_WIDTH + SLIDE_WIDTH / 2);
slide_info[1].y = parseInt(SLIDE_HEIGHT / 2);
update_slide(0, SLIDE_HEIGHT / 2);
update_slide(1, SLIDE_HEIGHT / 2);
remote.addEventListener("touchstart", mouse_down);
remote.addEventListener("touchend", mouse_up);
remote.addEventListener("touchmove", mouse_move);
remote.addEventListener("mousedown", mouse_down);
remote.addEventListener("mouseup", mouse_up);
remote.addEventListener("mousemove", mouse_move);
remote.addEventListener("mouseout", mouse_up);
}
function connect_onclick()
{
if(ws == null)
{
var ws_host_addr = "<?echo _SERVER("HTTP_HOST")?>";
var debug = document.getElementById("debug");
if((navigator.platform.indexOf("Win") != -1) && (ws_host_addr.charAt(0) == "["))
{
// network resource identifier to UNC path name conversion
ws_host_addr = ws_host_addr.replace(/[\[\]]/g, '');
ws_host_addr = ws_host_addr.replace(/:/g, "-");
ws_host_addr += ".ipv6-literal.net";
}
//debug.innerHTML = "<br>" + navigator.platform + " " + ws_host_addr;
ws = new WebSocket("ws://" + ws_host_addr + "/rc_spider", "text.phpoc");
document.getElementById("ws_state").innerHTML = "CONNECTING";
ws.onopen = ws_onopen;
ws.onclose = ws_onclose;
ws.onmessage = ws_onmessage;
}
else
ws.close();
}
function ws_onopen()
{
document.getElementById("ws_state").innerHTML = "<font color='blue'>CONNECTED</font>";
document.getElementById("bt_connect").innerHTML = "Disconnect";
// draw active slide button
for(slide_id = 0; slide_id < 2; slide_id++)
{
var slide = slide_info[slide_id];
update_slide(slide_id, slide.y - slide.offset);
}
}
function ws_onclose()
{
document.getElementById("ws_state").innerHTML = "<font color='gray'>CLOSED</font>";
document.getElementById("bt_connect").innerHTML = "Connect";
ws.onopen = null;
ws.onclose = null;
ws.onmessage = null;
ws = null;
// draw inactive slide button
for(slide_id = 0; slide_id < 2; slide_id++)
{
var slide = slide_info[slide_id];
update_slide(slide_id, slide.y - slide.offset);
slide.ws_value = 0;
}
}
function ws_onmessage(e_msg)
{
e_msg = e_msg || window.event; // MessageEvent
alert("msg : " + e_msg.data);
}
function update_slide(slide_id, y)
{
var debug = document.getElementById("debug");
var remote = document.getElementById("remote");
var ctx = remote.getContext("2d");
var slide = slide_info[slide_id];
var slide_top, slide_ratio, slide_value;
slide_top = (SLIDE_HEIGHT - SLIDE_LENGTH) / 2;
slide.y = y + slide.offset;
if(slide.y < slide_top)
slide.y = slide_top;
if(slide.y > (slide_top + SLIDE_LENGTH))
slide.y = slide_top + SLIDE_LENGTH;
ctx.clearRect(SLIDE_WIDTH * slide_id, 0, SLIDE_WIDTH, SLIDE_HEIGHT);
ctx.fillStyle = "silver";
ctx.beginPath();
ctx.rect(slide.x - 5, slide_top, 10, SLIDE_LENGTH);
ctx.fill();
if(ws && (ws.readyState == 1))
{
ctx.strokeStyle = "blue";
if(slide.state)
ctx.fillStyle = "blue";
else
ctx.fillStyle = "skyblue";
}
else
{
ctx.strokeStyle = "gray";
if(slide.state)
ctx.fillStyle = "gray";
else
ctx.fillStyle = "silver";
}
ctx.beginPath();
ctx.rect(slide.x - BUTTON_WIDTH / 2, slide.y - BUTTON_HEIGHT / 2, BUTTON_WIDTH, BUTTON_HEIGHT);
ctx.fill();
ctx.stroke();
ctx.font = "30px Arial";
ctx.textBaseline = "top";
ctx.fillStyle = "white";
slide_ratio = (SLIDE_LENGTH - (slide.y - slide_top)) / SLIDE_LENGTH; // 0 ~ 1
slide_value = parseInt(slide_ratio * (VALUE_MAX - VALUE_MIN) + VALUE_MIN); // VALUE_MIN ~ VALUE_MAX
if(slide_id == 0)
{
ctx.textAlign = "right";
ctx.fillText(slide_value.toString(), slide.x + BUTTON_WIDTH / 2 - 5, slide.y - BUTTON_HEIGHT / 2);
}
else
{
ctx.textAlign = "left";
ctx.fillText(slide_value.toString(), slide.x - BUTTON_WIDTH / 2 + 5, slide.y - BUTTON_HEIGHT / 2);
}
if(ws && (ws.readyState == 1))
{
//debug.innerHTML = slide.ws_value + "/" + slide_value;
if(slide.ws_value != slide_value)
{
if(slide_id == 0)
ws.send("A" + slide_value.toString() + "\r\n");
else
ws.send("B" + slide_value.toString() + "\r\n");
slide.ws_value = slide_value;
}
}
}
function find_slide_id(x, y)
{
var button_left, button_right, button_top, button_bottom;
var slide_id, slide;
if(x < SLIDE_WIDTH)
slide_id = 0;
else
slide_id = 1;
slide = slide_info[slide_id];
button_left = slide.x - BUTTON_WIDTH / 2;
button_right = slide.x + BUTTON_WIDTH / 2;
button_top = slide.y - BUTTON_HEIGHT / 2;
button_bottom = slide.y + BUTTON_HEIGHT / 2;
if((x > button_left) && (x < button_right) && (y > button_top) && (y < button_bottom))
return slide_id;
else
return 2;
}
function mouse_down(event)
{
var debug = document.getElementById("debug");
var x, y, slide_id;
//debug.innerHTML = "";
if(event.changedTouches)
{
for(var id = 0; id < event.changedTouches.length; id++)
{
var touch = event.changedTouches[id];
x = touch.pageX - touch.target.offsetLeft;
y = touch.pageY - touch.target.offsetTop;
slide_id = find_slide_id(x, y);
//debug.innerHTML += slide_id + "/" + x + "/" + y + " ";
//debug.innerHTML += slide_id + "/" + touch.identifier + " ";
if(slide_id < 2)
{
var slide = slide_info[slide_id];
if(!slide.state)
{
slide.offset = slide.y - y;
slide.identifier = touch.identifier;
slide.state = true;
update_slide(slide_id, y);
}
}
}
}
else
{
x = event.offsetX;
y = event.offsetY;
slide_id = find_slide_id(x, y);
if(slide_id < 2)
{
var slide = slide_info[slide_id];
slide.offset = slide.y - y;
slide.state = true;
update_slide(slide_id, y);
}
}
event.preventDefault();
}
function mouse_up(event)
{
var debug = document.getElementById("debug");
var slide_id;
//debug.innerHTML = "";
if(event.changedTouches)
{
for(var id = 0; id < event.changedTouches.length; id++)
{
var touch = event.changedTouches[id];
if(touch.identifier == slide_info[0].identifier)
slide_id = 0;
else
if(touch.identifier == slide_info[1].identifier)
slide_id = 1;
else
slide_id = 2;
if(slide_id < 2)
{
var slide = slide_info[slide_id];
slide.state = false;
slide.identifier = null;
if(document.getElementById("bt_center").checked == true)
{
slide.offset = 0;
update_slide(slide_id, SLIDE_HEIGHT / 2);
}
else
update_slide(slide_id, slide.y - slide.offset);
}
}
}
else
{
if(slide_info[0].state)
slide_id = 0;
else
if(slide_info[1].state)
slide_id = 1;
else
slide_id = 2;
if(slide_id < 2)
{
var slide = slide_info[slide_id];
slide.state = false;
if(document.getElementById("bt_center").checked == true)
{
slide.offset = 0;
update_slide(slide_id, SLIDE_HEIGHT / 2);
}
else
update_slide(slide_id, slide.y - slide.offset);
}
}
event.preventDefault();
}
function mouse_move(event)
{
var debug = document.getElementById("debug");
var x, y, slide_id, offset;
//debug.innerHTML = "";
if(event.changedTouches)
{
for(var id = 0; id < event.changedTouches.length; id++)
{
var touch = event.changedTouches[id];
if(touch.identifier == slide_info[0].identifier)
slide_id = 0;
else
if(touch.identifier == slide_info[1].identifier)
slide_id = 1;
else
slide_id = 2;
if(slide_id < 2)
{
x = touch.pageX - touch.target.offsetLeft;
y = touch.pageY - touch.target.offsetTop;
update_slide(slide_id, y);
}
}
}
else
{
if(slide_info[0].state)
slide_id = 0;
else
if(slide_info[1].state)
slide_id = 1;
else
slide_id = 2;
if(slide_id < 2)
{
x = event.offsetX;
y = event.offsetY;
update_slide(slide_id, y);
}
}
event.preventDefault();
}
function bt_center_change()
{
if(document.getElementById("bt_center").checked == true)
{
for(slide_id = 0; slide_id < 2; slide_id++)
{
var slide = slide_info[slide_id];
slide.offset = 0;
update_slide(slide_id, SLIDE_HEIGHT / 2);
}
}
}
window.onload = init;
</script>
</head>
<body>
<p>
<h1>Web Remote Control / Slide</h1>
</p>
<canvas id="remote"></canvas>
<h2>WebSocket <font id="ws_state" color="gray">CLOSED</font></h2>
<button id="bt_connect" type="button" onclick="connect_onclick();">Connect</button>
Return to Center<input id="bt_center" type="checkbox" onchange="bt_center_change()">
<span id="debug"></span>
</body>
</html>
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