From eae97f0272ae5c9248ec08b1ba215225dd29fe95 Mon Sep 17 00:00:00 2001
From: Bronson Zgeb <bronson.zgeb@gmail.com>
Date: Mon, 5 Dec 2011 19:20:29 -0500
Subject: [PATCH] Added a small test script.

---
 robotTest.php | 75 +++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 75 insertions(+)
 create mode 100644 robotTest.php

diff --git a/robotTest.php b/robotTest.php
new file mode 100644
index 0000000..f5b2022
--- /dev/null
+++ b/robotTest.php
@@ -0,0 +1,75 @@
+<?php
+//    $script = $_POST["script"];
+//    //var_dump($script);
+//
+//    header("Content-type: text/plain");
+//
+//    foreach ($script as $operation) {
+//        $opcode = $operation["opcode"];
+//        $arg    = $operation["arg"];
+//
+//        switch ($opcode) {
+//            case "fd":
+//                echo "Forward ho!\n";
+//                send("200A200B");
+//                wait($arg);
+//                send("0A0B");
+//                break;
+//            case "bw":
+//                echo "Backward ho!\n";
+//                send("-200A-200B");
+//                wait($arg);
+//                send("0A0B");
+//                break;
+//            case "rt":
+//                echo "Right Turn ho!\n";
+//                send("140A-140B");
+//                wait($arg);
+//                send("0A0B");
+//                break;
+//            case "lt":
+//                echo "Left Turn ho!\n";
+//                send("-140A140B");
+//                wait($arg);
+//                send("0A0B");
+//                break;
+//            case "pu":
+//                echo "Pen Up!\n";
+//                break;
+//            case "pd":
+//                echo "Pen Down!\n";
+//                break;
+//            default:
+//                echo "DERP!!\n";
+//                break;
+//        }
+//    }
+
+    function wait($time) {
+        echo "Waiting for " . $time . "...";
+        $timeInMicroSeconds = $time * 1000;
+        $timeWaited = 0;
+        while ($timeWaited <= $timeInMicroSeconds)
+        {
+            poll();
+            usleep(500);
+            $timeWaited += 500;
+        }
+//        usleep($time * 1000);
+        echo "Done!";
+        echo "\n";
+    }
+
+    function send($argument) {
+        system("teensyWrite /dev/ttyACM0" . $argument);
+    }
+
+    function poll() {
+        // Poll sensor 1
+        system("teensyPoll /dev/ttyACM0 1R");
+
+        // Poll sensor 2
+        echo system("teensyPoll /dev/ttyACM0 2R");
+    }
+    send("150A150B");
+?>