Very neat. FORTH may not be #1 on anyone's list of languages but it is still a great choice for interactive control on a highly-embedded system. For a flavor of what interactivity is like without the "strangeness" of FORTH give Bill Roy's Bitlash a try:
I think the "strangeness" of FORTH is charming and look forward to this FORTH project evolving (can't do much without looping 
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The Rugged Motor Driver: two H-bridges, more power than an L298, fully protected