Initializing Servo Motor using PHPoC

[Khanh]

Before assembling a robot or something using some motors, you should preset the angles of motors first.

This small tip shows how to preset some motors using PHPoC Blue.

Source Code


[Source code - task0.php]

<?php

if(_SERVER("REQUEST_METHOD"))
    exit; // avoid php execution via http request

include "/lib/sd_340.php";
include "/lib/sn_tcp_ws.php";

define("PWM_PERIOD", 20000); // 20000us (20ms)
define("WIDTH_MIN", 771);
define("WIDTH_MAX", 2193);

ht_pwm_setup(0, WIDTH_MIN, PWM_PERIOD, "us");

function servo_set_angle($angle)
{
    if($angle < 0)
        $angle = 0;

    if($angle > 180)
        $angle = 180;

    $width = WIDTH_MIN + (int)round((WIDTH_MAX - WIDTH_MIN) * $angle / 180.0);

    if(($width >= WIDTH_MIN) && ($width <= WIDTH_MAX))
        ht_pwm_width(0, $width, PWM_PERIOD);    
}

servo_set_angle(90) ; // change your desired angle here

while(1)
{

}

?>