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1  Development / Suggestions for the Arduino Project / Re: New arduino language on: March 30, 2011, 03:21:25 pm
I am working on a Common Lisp compiler. I have a lot of it working. If you interested, check out my project at

2  Development / Other Software Development / Re: Common Lisp cross compiler on: March 27, 2011, 08:18:32 am
Thanks for the comments. This is my first open source project. The files can be downloaded from the svn link. There is a tarball of the folders needed. I will work on more comments. If you would like to try out the software, put the folders on your system where asdf can find them. Use asdf to load the file arduino-lisp.asd from the arduino-lisp folder. Then do a (in-package :arduino-lisp) to finish loading. To try it out the examples, load the test file arduino-lisp-tests.lisp. This will create a few sample sources. To run the compiler on a sample source (i.e. blink) type (arduino-compile blink). This will create a text file in the root folder called arduino-c++.txt. You can copy and paste the contents into the arduino ide to compile the C++ source.
  In my testing I created lisp sources for all the basic examples that come with the Arduino ide. I have all of them working. I also started working on other Arduino examples like the servo one. As of now this compiler works on a sub set of Lisp. I am working on expanding the usefulness of the compiler. Any other comments or thoughts are very welcome. If anyone wants to help, that would be great.

3  Topics / Robotics / Re: Power my servos on: March 21, 2011, 08:59:06 am
I am using the TURNIGY 8-15A UBEC for Lipoly. You can find it here or on ebay.
4  Topics / Robotics / Re: Power my servos on: March 20, 2011, 06:11:25 pm
I have a robot with 18 servos. I use two 8 amp BECs and a 3 cell LiPo battery. The BEC is used in RC models to reduce the 11.1 volts of the LiPo to 5 or 6 volts to run the servos.
5  Topics / Robotics / Re: Controlling 30 servos.. on: March 20, 2011, 06:05:46 pm
I am using the Mega to control 18 servos. Here is some of the code:

  const int LEG_COUNT = 6;
  const int servos_per_leg = 3;

  enum leg_id { R1, R2, R3, L3, L2, L1 };

  // Servo pins.
  const int servo_pins[][servos_per_leg] = {{42, 43, 44},  // R1
    {34, 35, 37},  // R2
    {26, 27, 28},  // R3
    {22, 23, 24},  // L3
    {30, 32, 33},  // L2
    {38, 39, 40}}; // L1

      // create servo objects to control servos.
      for (int i = 0; i < (LEG_COUNT); i++)
        Servo sx;       // New servo object.
        servos[i].coxa = sx; // Add to array.

        Servo sy;       // New servo object.
        servos[i].femur = sy; // Add to array.

        Servo sz;       // New servo object.
        servos[i].tibia = sz; // Add to array.

        servos[i].coxa.attach(servo_pins[i][x]); // Attach servo to pin.
        servos[i].femur.attach(servo_pins[i][y]); // Attach servo to pin.
        servos[i].tibia.attach(servo_pins[i][z]); // Attach servo to pin.
6  Development / Other Software Development / Common Lisp cross compiler on: March 19, 2011, 01:52:18 pm
I have developed a Common Lisp (SBCL) to Arduino C++ cross compiler. I have it mostly working. I have converted all of the simple examples that come with the Arduino IDE and have them working. The link to my project is

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