{
$dc = $userData;
if ($velocity == 32767) {
echo "Velocity: Full Speed forward, turning backward\n";
$dc->setVelocity(-32767);
} elseif ($velocity == -32767) {
echo "Velocity: Full Speed backward, turning forward\n";
$dc->setVelocity(32767);
} else {
echo "Error\n";
// Can only happen if another program sets velocity
}
}
$ipcon = new IPConnection();
// Create IP connection
$dc = new BrickDC(UID, $ipcon);
// Create device object
$ipcon->connect(HOST, PORT);
// Connect to brickd
// Don't use device before ipcon is connected
// Register "velocity reached callback" to cb_reached
// cb_reached will be called every time a velocity set with
// set_velocity is reached
$dc->registerCallback(BrickDC::CALLBACK_VELOCITY_REACHED, 'cb_reached', $dc);
$dc->enable();
// The acceleration has to be smaller or equal to the maximum acceleration
// of the DC motor, otherwise cb_reached will be called too early
$dc->setAcceleration(5000);
// Slow acceleration
$dc->setVelocity(32767);
// Full speed forward
<?php
require_once 'Tinkerforge/IPConnection.php';
require_once 'Tinkerforge/BrickDC.php';
use Tinkerforge\IPConnection;
use Tinkerforge\BrickDC;
const HOST = 'localhost';
const PORT = 4223;
const UID = 'a4GePuz3m29';
// Change to your UID
$ipcon = new IPConnection();
// Create IP connection
$dc = new BrickDC(UID, $ipcon);
// Create device object
$ipcon->connect(HOST, PORT);
// Connect to brickd
// Don't use device before ipcon is connected
$dc->setPWMFrequency(10000);
// Use PWM frequency of 10kHz
$dc->setDriveMode(1);
// Use 1 = Drive/Coast instead of 0 = Drive/Brake
$dc->enable();
$dc->setAcceleration(5000);
// Slow acceleration
$dc->setVelocity(32767);
// Full speed forward
echo "Press key to exit\n";
fgetc(fopen('php://stdin', 'r'));
$dc->disable();
$ipcon->disconnect();
