more lang hoohah
Haldean Brown
3 years ago
| 0 | 0 |
Primitives:
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| 1 | 1 |
- boolean
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| 2 | 2 |
- int
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| 3 | |
signed 32-bit integer
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3 |
signed 28-bit integer
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| 4 | 4 |
- Q vectors
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| 5 | 5 |
dimension k (fixed at compile time), represents robot state
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| 6 | 6 |
- R vectors
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| 116 | 116 |
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| 117 | 117 |
Control flow:
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| 118 | 118 |
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| 119 | |
mark ( -- )
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| 120 | |
adds a mark in the instruction flow
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| 121 | |
unmark ( -- )
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drop the most recent mark
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jumpif (bool -- )
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| 124 | |
if true, goes to the most recent mark and maintains the mark.
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otherwise, unmarks and continues
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119 |
{ ( -- )
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opens a block; instructions inside the block are not executed
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} ( -- block )
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closes a block, creating a block that can be passed to something else
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if ( block bool -- )
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if bool is true, runs block. otherwise, just pops both off the stack
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and does nothing
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loop ( block bool -- )
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if bool is true, runs the block. repeats running block until bool is no
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128 |
longer true
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129 |
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A do-while loop that calls 'func' on the top value 10 times then looks like:
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131 |
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10
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{
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swap # ( x i -- i x )
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func swap # ( i x -- f(x) i )
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1 - dup 0 neq # ( f(x) i -- f(x) i-- (i-- == 0) )
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}
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true loop
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| 126 | 139 |
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| 127 | 140 |
All measurements done in whole microns to avoid floating point
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0 |
#pragma once
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const uint32_t meka_tag_bool = 0x00000000
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const uint32_t meka_tag_int = 0x00000001
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const uint32_t meka_tag_qvec = 0x00000002
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const uint32_t meka_tag_rvec = 0x00000003
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const uint32_t meka_tag_reg = 0x00000004
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const uint32_t meka_tag_sig = 0x00000005
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const uint32_t meka_tag_chan = 0x00000006
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const uint32_t meka_tag_cset = 0x00000007
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const uint32_t meka_tag_mask = 0xFFFFFFF8
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typedef uint32_t meka_value;
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#define meka_unpack(v) ((v) >> 3)
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#define meka_pack(t, v) (((v) << 3) | meka_tag_ # v)
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