PWM x,50,5+angle/36

servo signals range from 1ms (5%) to 2 ms (10%) on 20ms frame rate

'set up the PWM for 2 servo's
setpin gp2,pwm1a
setpin gp3,pwm1b

'start the PWM's in mid position
PWM 1,50,7.5,7.5

'vary the angle
do
 for angle=0 to 180 step 10 '90 degrees is mid position
 pause 100
 pwmval=5 + angle/36
 PWM 1,50,pwmval,pwmval
 next
loop

line 4371:      if(c!=0 || blank==-1)*pp |=c;

Option default integer
Dim distribution(7)

For i=1 To 1e6
 Inc distribution(1+Rnd*6),1
Next i

For i=0 To 7
 Print i, distribution(i)
Next i
End

0       0
1       83119
2       166639
3       166889
4       166590
5       166382
6       166897
7       83484

Dim distribution(7)

For i=1 To 1e6
 Inc distribution(Int(1+Rnd*6)),1
Next i

For i=0 To 7
 Print i, distribution(i)
Next i
End

0       0
1       166619
2       166640
3       166988
4       166171
5       166966
6       166616
7       0

DIM FLOAT n,k,s = 0.25
DIM INTEGER m
PRINT "  N   INT(N)  CINT(N)  FIX(N)   n\1   k\2      m"

FOR n = -3 TO 3 STEP s
m = n ' asign a float to an integer
k = n * 2
PRINT STR$(n,2,2);TAB(8);INT(n);TAB(16);CINT(n);TAB(24);FIX(n);TAB(32);n\1;TAB(40);k\2;TAB(48);m
NEXT n

N   INT(N)  CINT(N)  FIX(N)   n\1   k\2      m
-3.00  -3      -3      -3      -3      -3      -3
-2.75  -3      -3      -2      -3      -3      -3
-2.50  -3      -3      -2      -3      -2      -3
-2.25  -3      -2      -2      -2      -2      -2
-2.00  -2      -2      -2      -2      -2      -2
-1.75  -2      -2      -1      -2      -2      -2
-1.50  -2      -2      -1      -2      -1      -2
-1.25  -2      -1      -1      -1      -1      -1
-1.00  -1      -1      -1      -1      -1      -1
-0.75  -1      -1       0      -1      -1      -1
-0.50  -1      -1       0      -1       0      -1
-0.25  -1       0       0       0       0       0
0.00   0       0       0       0       0       0
0.25   0       0       0       0       0       0
0.50   0       1       0       1       0       1
0.75   0       1       0       1       1       1
1.00   1       1       1       1       1       1
1.25   1       1       1       1       1       1
1.50   1       2       1       2       1       2
1.75   1       2       1       2       2       2
2.00   2       2       2       2       2       2
2.25   2       2       2       2       2       2
2.50   2       3       2       3       2       3
2.75   2       3       2       3       3       3
3.00   3       3       3       3       3       3

' test of memory pack and unpack
Option default integer
Dim in(127)
Dim out(63)
Dim back(127)
Dim nibbles,bits
iadd=Peek(varaddr in())
oadd=Peek(varaddr out())
' test packing into words : 32-bit
For i=0 To 127:in(i)=i:Next
Memory pack iadd, oadd, 128,32
Print Peek(word oadd+64)
Memory unpack oadd,Peek(varaddr back()),128,32
For i=0 To 127: If back(i)<> i Then Error ("Oops"):Next
'
' test packing into shorts : 16-bit
Memory pack iadd, oadd, 128,16
Print Peek(short oadd+32)
Memory unpack oadd,Peek(varaddr back()),128,16
For i=0 To 127: If back(i)<> i Then Error ("Oops"):Next
'
' test packing into bytes : 8-bit
Memory pack iadd, oadd, 128,8
Print Peek(byte oadd+16)
Memory unpack oadd,Peek(varaddr back()),128,8
For i=0 To 127: If back(i)<> i Then Error ("Oops"):Next
'
' test packing into nibbles : 4-bit
Memory pack Peek(varaddr in()),Peek(varaddr nibbles),16,4
Print Hex$(nibbles)
Memory unpack Peek(varaddr nibbles),Peek(varaddr back()),16,4
For i=0 To 15: If back(i)<> i Then Error ("Oops"):Next
'
' test packing into bits : 1-bit
For i=0 To 63:in(i)=i And 1:Next i
Memory pack Peek(varaddr in()),Peek(varaddr bits),64,1
Print Bin$(bits)
Memory unpack Peek(varaddr bits),Peek(varaddr back()),64,1
For i=0 To 63: If back(i)<> i And 1 Then Error ("Oops"):Next

'GP0measure frequency/period using PIO
'Volhout's PIO-routine


'pio program measure pause and pulse time from GP0 in us and push both to FIFO
'0 E020   'set X=0
'1 A029   'X -> fffffff
'2 00C4   'jmp (pin=1) to loop2
'3 0042   'count loop1
'4 0045   'count loop2
'5 00C4   'jmp (pin=1) in loop2
'6 A0C9   'mov -X to ISR
'7 8000   'push noblock
'8 0000   'jmp 0 (rest is filled with 0 = jmp->0)
Dim a%(7)=(&h004200C4A029E020,&h8000A0C900C40045,0,0,0,0,0,0)
'f=63e6     '2MHz gives 1us per count resolution
f=378e6 'I increased this to the same as the PicoMite cpu frequency.
'configure pio1
e0=Pio(execctrl 0,0,&h1f)  'use gp0 for PIN
p=0                        'no GPxx pins for PIO

'program pio1 and start
PIO program 1,a%()
PIO init machine 1,0,f,p,e0,,0 'start pio 1,0 from adress 0
PIO start 1,0

'C1=1e-9 '1nF
'F1=175100
'measure time and convert to frequency
Dim cnt%(4)
DO
for J=1 to 1
avg=0
avg1=0
PIO start 1,0
n=100000  'Will meare so many times and calculate the average
For i=1 to n*j
 PIO read 1,0,5,cnt%()       'read fifo pio 1 seq 0
 period1% = cnt%(4)+3
 freq=f/(2*period1%)         'calc freq
 avg=avg+freq
 avg1=avg1+cnt%(4)
next i
PIO stop 1,0
Counts=avg1/(n*j)
F1=avg/(n*j)
ny=F1
print"Frequency:";F1;" counts=";counts;"  nbr=";n*j; " Diff %=";abs((ny-old)/ny)*100
old=ny
Next j
'pause 1000
LOOP