> 8;
$vlo = $velocity & 0xff;
$rhi = $radius >> 8;
$rlo = $radius & 0xff;
print "vhi:$vhi, vlo:$vlo, rhi:$rhi, rlo:$rlo\n";
roomba_send_cmd( pack("C*", 137, $vhi,$vlo, $rhi,$rlo) );
}
function roomba_init() {
roomba_send_cmd( pack("C", 128) ); // Start
usleep(100000); # wait 100 ms
roomba_send_cmd( pack("C", 130) ); // CONTROL
usleep(100000); # wait 100 ms
}
function roomba_send_cmd( $cmd ) {
global $roomba_host, $roomba_port;
$fp = fsockopen( $roomba_host, $roomba_port, $errno, $errstr, 30);
if (!$fp) { // couldn't connect
echo "$errstr ($errno)\n";
}
else {
fwrite( $fp, $cmd );
fclose($fp);
}
}
function roomba_read_sensors() {
global $roomba_host, $roomba_port, $roomba_sensors;
$fp = fsockopen( $roomba_host, $roomba_port, $errno, $errstr, 30);
if (!$fp) { // couldn't connect
echo "$errstr ($errno)\n";
}
else {
fwrite( $fp, pack("C", 142 ) ); // SENSORS
fflush( $fp );
$raw = fread( $fp, 26 );
fclose($fp);
$sensors = unpack("C*", $raw);
return $sensors;
}
}
?>
Roomba Command
Roomba Command