Raspberry Pi 2 WiFi controlled toy car with 2xFS90R continuo

sudo $(which groovysh)

groovy.grape.Grape.grab(["groupId":"com.pi4j", "artifactId":"pi4j-core", "version":"1.0"]);
com.pi4j.wiringpi.Gpio.wiringPiSetupGpio();

com.pi4j.wiringpi.Gpio.pinMode(18, com.pi4j.wiringpi.Gpio.PWM_OUTPUT);
com.pi4j.wiringpi.Gpio.pinMode(19, com.pi4j.wiringpi.Gpio.PWM_OUTPUT);
com.pi4j.wiringpi.Gpio.pwmSetClock(384);
com.pi4j.wiringpi.Gpio.pwmSetRange(1000);
com.pi4j.wiringpi.Gpio.pwmSetMode(com.pi4j.wiringpi.Gpio.PWM_MODE_MS);

set={l, r ->
  com.pi4j.wiringpi.Gpio.pwmWrite(18, l);
  com.pi4j.wiringpi.Gpio.pwmWrite(19, r);
}

s={ set(0, 0); }

//set(90, 60); Thread.sleep(2100); s();
//set(1, 1); Thread.sleep(2100); s();
//set(60, 90); Thread.sleep(2100); s();
//set(150, 150); Thread.sleep(2100); s();

groovy.grape.Grape.grab(["groupId":"org.eclipse.jetty", "artifactId":"jetty-server", "version":"9.2.0.M1"])
groovy.grape.Grape.grab(["groupId":"org.eclipse.jetty", "artifactId":"jetty-servlet", "version":"9.2.0.M1"])
groovy.grape.Grape.grab(["groupId":"javax.servlet", "artifactId":"javax.servlet-api", "version":"3.0.1"])


public class ClosureHandler extends org.eclipse.jetty.server.handler.AbstractHandler {
  private final groovy.lang.Closure closure;
  public ClosureHandler(groovy.lang.Closure closure) { this.closure = closure; }
  public void handle(String target, org.eclipse.jetty.server.Request baseRequest, javax.servlet.http.HttpServletRequest request, javax.servlet.http.HttpServletResponse response)
      throws java.io.IOException, javax.servlet.ServletException {
    baseRequest.setHandled(true);
    closure.call(request, response, baseRequest, target);
  }
}


public class PathMappingHandlerProxy extends org.eclipse.jetty.server.handler.AbstractHandler {
private final java.util.concurrent.ConcurrentHashMap<String, org.eclipse.jetty.server.Handler> handlersByPaths = new java.util.concurrent.ConcurrentHashMap<String, org.eclipse.jetty.server.Handler>();
public void setHandler(String path, org.eclipse.jetty.server.Handler handler) { handlersByPaths.put(path, handler); }
public org.eclipse.jetty.server.Handler getHandler(String path) { return handlersByPaths.get(path);  }
public void handle(String target, org.eclipse.jetty.server.Request baseRequest, javax.servlet.http.HttpServletRequest request, javax.servlet.http.HttpServletResponse response)
      throws java.io.IOException, javax.servlet.ServletException {
      String path = (request.getContextPath()!=null?request.getContextPath():"")+(request.getServletPath()!=null?request.getServletPath():"")+(request.getPathInfo()!=null?request.getPathInfo():"");
      org.eclipse.jetty.server.Handler handler = handlersByPaths.get(path);
      if(handler!=null) {
    handler.handle(target, baseRequest, request, response);
    }
  }
}

hpx = new PathMappingHandlerProxy();
server = new org.eclipse.jetty.server.Server(12345);
server.setHandler(hpx); server.start();

hpx.setHandler("/set", new ClosureHandler({request, response, baseRequest, target ->
response.setStatus(javax.servlet.http.HttpServletResponse.SC_OK);
if(request.getParameter("l")!=null) { com.pi4j.wiringpi.Gpio.pwmWrite(18, Integer.parseInt(request.getParameter("l"))); }
if(request.getParameter("r")!=null) { com.pi4j.wiringpi.Gpio.pwmWrite(19, Integer.parseInt(request.getParameter("r"))); }
}));


hpx.setHandler("/stop", new ClosureHandler({request, response, baseRequest, target ->
response.setStatus(javax.servlet.http.HttpServletResponse.SC_OK);
com.pi4j.wiringpi.Gpio.pwmWrite(18, 0);
com.pi4j.wiringpi.Gpio.pwmWrite(19, 0);
}));

hpx.setHandler("/", new ClosureHandler({ req, response, breq, t ->
response.setStatus(javax.servlet.http.HttpServletResponse.SC_OK);
response.writer.write("""
<html><head><script src="http://code.jquery.com/jquery-2.1.4.min.js"></script>
<script>
function set(l,r) {
p = {};
if(l || l===0) { p.l = l; }
if(r || r===0) { p.r = r; }
\$.ajax({ url: "/set", data: p });
}
</script>
<style>
span {
  border: solid 1px black;
  min-width: 80px;
  padding: 10px;
  margin: 10px;
  display: inline-block;
  text-align: center;
}
</style>
</head>
<body>
<div>
L:
<span onclick="set(1)">&lt;&lt;&lt;</span>
<span onclick="set(65)">&lt;&lt;</span>
<span onclick="set(70)">&lt;</span>
<span onclick="set(0)">STOP</span>
<span onclick="set(80)">&gt;</span>
<span onclick="set(85)">&gt;&gt;</span>
<span onclick="set(153)">&gt;&gt;&gt;</span>
</div>
<div>
Both:
<span onclick="set(1, 153)">&lt;&lt;&lt;</span>
<span onclick="set(65, 85)">&lt;&lt;</span>
<span onclick="set(70, 80)">&lt;</span>
<span onclick="set(0, 0)">STOP</span>
<span onclick="set(80, 70)">&gt;</span>
<span onclick="set(85, 65)">&gt;&gt;</span>
<span onclick="set(153, 1)">&gt;&gt;&gt;</span>
</div>
<div>
R:
<span onclick="set(null, 153)">&lt;&lt;&lt;</span>
<span onclick="set(null, 85)">&lt;&lt;</span>
<span onclick="set(null, 80)">&lt;</span>
<span onclick="set(null, 0)">STOP</span>
<span onclick="set(null, 70)">&gt;</span>
<span onclick="set(null, 65)">&gt;&gt;</span>
<span onclick="set(null, 1)">&gt;&gt;&gt;</span>
</div>
</body></html>""");
}));