It depends on what type of PHP variable you want to use in Javascript. For example, entire PHP objects with class methods cannot be used in Javascript. You can, however, use the built-in PHP JSON (JavaScript Object Notation) functions to convert simple PHP variables into JSON representations. For more information, please read the following links:
You can generate the JSON representation of your PHP variable and then print it into your Javascript code when the page loads. For example:
<script type="text/javascript">
var foo = <?php echo json_encode($bar); ?>;
</script>