After having played with my Arduino motor shield (see G+ post https://plus.google.com/u/0/106774241636379495104/posts/Tm8v2re1iXS), I decided to rewrite the Arduino code to Forth. Why, you ask? Having used Forth back in the 90s (on 8 Bit Z80 clone and 8088 Intel PC), I still have some background in Forth and I love it ot interactively try out things. With Forth I get the command interpreter to control my robot for free and I have much shorter turn-around times.

• Unfortunately you have to built your own amForth image, because the provided HEX files for Arduino boards ins amForth 5.1 do not have timers enabled
• I will provide detailed setup instructions in the future…
• after burning the amForth HEX to your Arduino, use amforth-shell.py from amForth to load app.frt. This will load all the deps and my code.
• As I haven’t enabled turnkey, you have to call setup and setup_pwm
• There are simple movement commands: left/right/forward/backward/stop. These do what the say, but stop after 1 second.
• There is an alternate form for each command: left!/right!/forward!/backward!/stop!. They do NOT stop after timeout.
• There are shortcuts l/r/f/b/s and l!/r!/f!/b!/s! available.

The following files are taken from amForth 5.1 (http://amforth.sourceforge.net/)

• marker.frt
• bitnames.frt
• synonym.frt
• ports-standard.frt

This code is published under the GNU Public License v2 (GPL).