<?php
// сесть встать
include_once dirname(__FILE__) . "/ServoTimeLine.cls.php";
$tl = new rxServoTimeLine();
// таймлайн
$frames1 = new servo_frame();
// кадры
$frames2 = new servo_frame();
// кадры
$frames3 = new servo_frame();
// кадры
$frames4 = new servo_frame();
// кадры
$stepTime = 10000;
$timeFrame = 100;
// сесть
$frames1->addFrame("s2", 90, 0);
$frames1->addFrame("s2", 25, $stepTime);
$frames1->addFrame("s3", 45, 0);
$frames1->addFrame("s3", 175, $stepTime);
$frames1->addFrame("s4", 90, 0);
$frames1->addFrame("s4", 155, $stepTime);
$frames2->addFrame("s9", 90, 0);
$frames2->addFrame("s9", 155, $stepTime);
$frames2->addFrame("s10", 45, 0);
$frames2->addFrame("s10", 175, $stepTime);
$frames2->addFrame("s11", 90, 0);
$frames2->addFrame("s11", 25, $stepTime);
$frames3->addFrame("s2", 25, 0);
$frames3->addFrame("s2", 90, $stepTime);
<?php
// тест
include_once "ServoTimeLine.cls.php";
$tl = new rxServoTimeLine();
// первая модель передвижения----------------------------------------------------------------
$frmPack = array("s1" => array(array("angle" => 0, "time" => 0, "speed" => STL_SPEED_ACCELERATION), array("angle" => 45, "time" => 1000, "speed" => STL_SPEED_NORMAL), array("angle" => 135, "time" => 4000, "speed" => STL_SPEED_DECELERATION), array("angle" => 180, "time" => 5000, "speed" => STL_SPEED_NORMAL)), "s2" => array(array("angle" => 0, "time" => 0, "speed" => STL_SPEED_NORMAL), array("angle" => 180, "time" => 5000, "speed" => STL_SPEED_NORMAL)));
// создать модель поведения на основе созданных кадров
$model = new servo_modelBlank();
$model->timeWork = 5000;
$model->timeFrame = 200;
$model->repeats = 1;
$model->addKeyFrame($frmPack);
$tl->addModel($model);
// вторая модель передвижения----------------------------------------------------------------
$frmPack2 = array("s2" => array(array("angle" => 0, "time" => 0, "speed" => STL_SPEED_NORMAL), array("angle" => 180, "time" => 2000, "speed" => STL_SPEED_NORMAL)));
$model2 = new servo_modelBlank();
$model2->timeWork = 2000;
$model2->timeFrame = 100;
$model2->repeats = 0;
$model2->addKeyFrame($frmPack2);
$tl->addModel($model2);
// подсчитать модели - разложить их по таймлайну.
$tl->calculateTimeLine();
$time = 0;
$time2 = 0;
for ($i = 0; $i < sizeof($tl->servoKeys); $i++) {
// пауза между фреймами
$time = $tl->servoKeys[$i];
if ($time2 > 0) {
usleep((int) ($time - $time2 * 1000));