| \ DoitCar control program |
| 0 constant LED-pin |
| 1 constant left-speed-pin |
| 2 constant right-speed-pin |
| 3 constant left-direction-pin |
| 4 constant right-direction-pin |
| 5 constant left-s1-pin |
| 6 constant left-s2-pin |
| 7 constant right-s1-pin |
| 8 constant right-s2-pin |
| |
| : pwm-on ( pin -- ) |
| >r |
| #1023 #1000 r@ pwm-setup |
| r@ pwm-start |
| 0 r> pwm-duty! |
| ; |
| |
| : led-on ( -- ) 0 LED-pin gpio-pin! ; |
| : led-off ( -- ) 1 LED-pin gpio-pin! ; |
| |
| : left-speed ( n -- ) left-speed-pin pwm-duty! ; |
| : right-speed ( n -- ) right-speed-pin pwm-duty! ; |
| |
| : left-forward ( -- ) 1 left-direction-pin gpio-pin! ; |
| : left-backward ( -- ) 0 left-direction-pin gpio-pin! ; |
| : right-forward ( -- ) 1 right-direction-pin gpio-pin! ; |
| : right-backward ( -- ) 0 right-direction-pin gpio-pin! ; |
| |
| variable last-left |
| variable last-right |
| variable left-period |
| variable right-period |
| : left-cb ( level -- ) |
| drop timer@ ( this-us ) |
| dup last-left @ - left-period ! ( this-us ) |
| last-left ! ( ) |
| gpio-int-negedge left-s1-pin gpio-enable-interrupt |
| ; |
| : right-cb ( level -- ) |
| drop timer@ ( this-us ) |
| dup last-right @ - right-period ! ( this-us ) |
| last-right ! ( ) |
| gpio-int-negedge right-s1-pin gpio-enable-interrupt |
| ; |
| 0 constant nopull |
| 1 constant pullup |
| : car-init |
| left-speed-pin pwm-on 0 left-speed |
| right-speed-pin pwm-on 0 right-speed |
| nopull gpio-output LED-pin gpio-mode led-on |
| nopull gpio-output left-direction-pin gpio-mode |
| nopull gpio-output right-direction-pin gpio-mode |
| pullup gpio-interrupt left-s1-pin gpio-mode |
| pullup gpio-interrupt right-s1-pin gpio-mode |
| |
| ['] left-cb left-s1-pin gpio-callback! |
| gpio-int-negedge left-s1-pin gpio-enable-interrupt |
| |
| ['] right-cb right-s1-pin gpio-callback! |
| gpio-int-negedge right-s1-pin gpio-enable-interrupt |
| ; |
| : l. left-period @ .d ; |
| : r. right-period @ .d ; |
