Maintain consistency in DC motor code

18 files changed, 120 insertions, 121 deletions

diff --git a/user-code/dcmotor/OpenModelica/dcmotor-both.mo b/user-code/dcmotor/OpenModelica/dcmotor-both.mo
index 066ca4f..e855c3c 100644
--- a/user-code/dcmotor/OpenModelica/dcmotor-both.mo
+++ b/user-code/dcmotor/OpenModelica/dcmotor-both.mo
@@ -6,11 +6,11 @@ model dcmotor_both "Rotate DC Motor in both directions"
   Integer c_ok(fixed = false);
 algorithm
   when initial() then
-    ok := sComm.open_serial(1, 0, 115200) "COM port is 0 and baud rate is 115200";
+    ok := sComm.open_serial(1, 2, 115200) "COM port is 2 and baud rate is 115200";
+    sComm.delay(2000);
     if ok <> 0 then
       strm.print("Unable to open serial port, please check");
     else
-      sComm.delay(2000);
       sComm.cmd_dcmotor_setup(1, 3, 1, 9, 10) "Setup DC motor of type 3 (L293D), motor 1, pin 9 and 10";
       sComm.cmd_dcmotor_run(1, 1, 100) "Motor 1 runs at PWM 100";
       sComm.delay(3000) "for 3 seconds";
@@ -20,5 +20,6 @@ algorithm
     end if;
     c_ok := sComm.close_serial(1) "To close the connection safely";
   end when;
-  annotation(experiment(StartTime = 0, StopTime = 10, Tolerance = 1e-6, Interval = 10));
-end dcmotor_both;
\ No newline at end of file
+  annotation(
+    experiment(StartTime = 0, StopTime = 10, Tolerance = 1e-6, Interval = 10));
+end dcmotor_both;
diff --git a/user-code/dcmotor/OpenModelica/dcmotor-clock.mo b/user-code/dcmotor/OpenModelica/dcmotor-clock.mo
index ffc3bba..4631532 100644
--- a/user-code/dcmotor/OpenModelica/dcmotor-clock.mo
+++ b/user-code/dcmotor/OpenModelica/dcmotor-clock.mo
@@ -6,11 +6,12 @@ model dcmotor_clock "Rotate DC Motor clockwise"
   Integer c_ok(fixed = false);
 algorithm
   when initial() then
-    ok := sComm.open_serial(1, 0, 115200) "COM port is 0 and baud rate is 115200";
+    ok := sComm.open_serial(1, 2, 115200) "COM port is 2 and baud rate is 115200";
+    sComm.delay(2000);
     if ok <> 0 then
       strm.print("Unable to open serial port, please check");
     else
-      sComm.delay(2000);
+      sComm.delay(1000);
       sComm.cmd_dcmotor_setup(1, 3, 1, 9, 10) "Setup DC motor of type 3 (L293D), motor 1, pin 9 and 10";
       sComm.cmd_dcmotor_run(1, 1, 100) "Motor 1 runs at PWM 100";
       sComm.delay(3000) "This is allowed to continue for 3 seconds";
@@ -18,5 +19,6 @@ algorithm
     end if;
     c_ok := sComm.close_serial(1) "To close the connection safely";
   end when;
-  annotation(experiment(StartTime = 0, StopTime = 10, Tolerance = 1e-6, Interval = 10));
-end dcmotor_clock;
\ No newline at end of file
+  annotation(
+    experiment(StartTime = 0, StopTime = 10, Tolerance = 1e-6, Interval = 10));
+end dcmotor_clock;
diff --git a/user-code/dcmotor/OpenModelica/dcmotor-loop.mo b/user-code/dcmotor/OpenModelica/dcmotor-loop.mo
index 979a098..6c643c4 100644
--- a/user-code/dcmotor/OpenModelica/dcmotor-loop.mo
+++ b/user-code/dcmotor/OpenModelica/dcmotor-loop.mo
@@ -6,22 +6,24 @@ model dcmotor_loop "Rotate DC Motor in both directions in a loop"
   Integer c_ok(fixed = false);
 algorithm
   when initial() then
-    ok := sComm.open_serial(1, 0, 115200) "COM port is 0 and baud rate is 115200";
+    ok := sComm.open_serial(1, 2, 115200) "COM port is 2 and baud rate is 115200";
+    sComm.delay(2000);
     if ok <> 0 then
       strm.print("Unable to open serial port, please check");
     else
+      sComm.cmd_dcmotor_setup(1, 3, 1, 9, 10) "Setup DC motor of type 3 (L293D), motor 1, pins 9 and 10";
       for i in 1:4 loop
-        sComm.cmd_dcmotor_setup(1, 3, 1, 9, 10) "Setup DC motor of type 3 (L293D), motor 1, pins 9 and 10";
         sComm.cmd_dcmotor_run(1, 1, 100) "Motor 1 runs at PWM 100";
-        sComm.delay(2000) "for 3 seconds";
+        sComm.delay(3000) "for 3 seconds";
         sComm.cmd_dcmotor_run(1, 1, 0) "Halt the motor";
         sComm.delay(2000) "for 2 seconds";
         sComm.cmd_dcmotor_run(1, 1, -100) "Run it at PWM 100 in reverse direction";
         sComm.delay(2000) "for 2 seconds";
-        sComm.cmd_dcmotor_release(1, 1) "Motor 1 is released";
       end for;
+      sComm.cmd_dcmotor_release(1, 1) "Motor 1 is released";
     end if;
     c_ok := sComm.close_serial(1) "To close the connection safely";
   end when;
-  annotation(experiment(StartTime = 0, StopTime = 10, Tolerance = 1e-6, Interval = 10));
-end dcmotor_loop;
\ No newline at end of file
+  annotation(
+    experiment(StartTime = 0, StopTime = 10, Tolerance = 1e-6, Interval = 10));
+end dcmotor_loop;
diff --git a/user-code/dcmotor/arduino/dcmotor-both/dcmotor-both.ino b/user-code/dcmotor/arduino/dcmotor-both/dcmotor-both.ino
index 1781c1d..bd75f7c 100644
--- a/user-code/dcmotor/arduino/dcmotor-both/dcmotor-both.ino
+++ b/user-code/dcmotor/arduino/dcmotor-both/dcmotor-both.ino
@@ -1,15 +1,15 @@
 void setup() {
-Serial.begin(115200); // set the baudrate=115200
-pinMode(9,OUTPUT);    // use pins 10 and 11 for motor output
-pinMode(10,OUTPUT);
-analogWrite(9,100);   // Motor runs at a low speed
-analogWrite(10,0);
+Serial.begin(115200); // set the baudrate
+pinMode(9, OUTPUT);    // use pins 9 and 10 for motor output
+pinMode(10, OUTPUT);
+analogWrite(9, 100);   // Motor runs at a low speed
+analogWrite(10, 0);
 delay(3000);          // 3 second delay
-analogWrite(9,0);     //
-analogWrite(10,100);  // Motor runs in the reverse direction for
+analogWrite(9, 0);     //
+analogWrite(10, 100);  // Motor runs in the reverse direction for
 delay(2000);          // 2 seconds
-analogWrite(9,0);     // Motor is stopped
-analogWrite(10,0);    //
+analogWrite(9, 0);     // Motor is stopped
+analogWrite(10, 0);    //
 }
 void loop(){
   // Code here runs in an infinite loop
diff --git a/user-code/dcmotor/arduino/dcmotor-clock/dcmotor-clock.ino b/user-code/dcmotor/arduino/dcmotor-clock/dcmotor-clock.ino
index b31f8fd..2b8c385 100644
--- a/user-code/dcmotor/arduino/dcmotor-clock/dcmotor-clock.ino
+++ b/user-code/dcmotor/arduino/dcmotor-clock/dcmotor-clock.ino
@@ -1,12 +1,12 @@
 void setup() {
-Serial.begin(9600); // set the baudrate=9600
-pinMode(9,OUTPUT);  // use pins 9 and 10 for motor output
-pinMode(10,OUTPUT);
-analogWrite(9,100); // PWM 100 on pin 9 makes the motor rotate
-analogWrite(10,0); 
+Serial.begin(115200); // set the baudrate
+pinMode(9, OUTPUT);  // use pins 9 and 10 for motor output
+pinMode(10, OUTPUT);
+analogWrite(9, 100); // PWM 100 on pin 9 makes the motor rotate
+analogWrite(10, 0); 
 delay(3000);        // This is allowed to continue for 3 seconds 
-analogWrite(9,0);   // 0 on pin 9 stops the motor
-analogWrite(10,0);
+analogWrite(9, 0);   // 0 on pin 9 stops the motor
+analogWrite(10, 0);
 }
 void loop() {
 // what is put here will run in an infinite loop
diff --git a/user-code/dcmotor/arduino/dcmotor-loop/dcmotor-loop.ino b/user-code/dcmotor/arduino/dcmotor-loop/dcmotor-loop.ino
index 7b87334..057d983 100644
--- a/user-code/dcmotor/arduino/dcmotor-loop/dcmotor-loop.ino
+++ b/user-code/dcmotor/arduino/dcmotor-loop/dcmotor-loop.ino
@@ -1,20 +1,20 @@
 int i;
 void setup() {
-Serial.begin(115200);   // set the baudrate=115200Hz
+Serial.begin(115200);   // set the baudrate
 pinMode(9,OUTPUT);      // use pins 9 and 10 for motor output
 pinMode(10,OUTPUT);
-for(i=0; i<4; i++){
-  analogWrite(9,100);   // Motor runs at a low speed
-  analogWrite(10,0);
+for(i = 0; i < 4; i++){
+  analogWrite(9, 100);   // Motor runs at a low speed
+  analogWrite(10, 0);
   delay(3000);          // 3 second delay
-  analogWrite(9,0);
-  analogWrite(10,0);    // Motor stops for
+  analogWrite(9, 0);
+  analogWrite(10, 0);    // Motor stops for
   delay(2000);          // 1 seconds
-  analogWrite(9,0);     //
-  analogWrite(10,100);  // Motor runs in the reverse direction for
+  analogWrite(9, 0);     //
+  analogWrite(10, 100);  // Motor runs in the reverse direction for
   delay(2000);          // 2 seconds
-  analogWrite(9,0);     // Stop the 
-  analogWrite(10,0);    // motor rotating
+  analogWrite(9, 0);     // Stop the 
+  analogWrite(10, 0);    // motor rotating
   delay(1000);          // for 1 second
 }
 }
diff --git a/user-code/dcmotor/julia/dcmotor-both.jl b/user-code/dcmotor/julia/dcmotor-both.jl
index 98bb633..b843b7c 100644
--- a/user-code/dcmotor/julia/dcmotor-both.jl
+++ b/user-code/dcmotor/julia/dcmotor-both.jl
@@ -2,10 +2,10 @@ using SerialPorts
 include("ArduinoTools.jl")
 
 ser = ArduinoTools.connectBoard(115200)
-ArduinoTools.DCMotorSetup(ser,3,1,9,10)
-ArduinoTools.DCMotorRun(ser,1,100)
+ArduinoTools.DCMotorSetup(ser, 3, 1, 9, 10)
+ArduinoTools.DCMotorRun(ser, 1, 100)
 sleep(3)
-ArduinoTools.DCMotorRun(ser,1,-100)
-sleep(3)
-ArduinoTools.DCMotorRelease(ser,1)
+ArduinoTools.DCMotorRun(ser, 1, -100)
+sleep(2)
+ArduinoTools.DCMotorRelease(ser, 1)
 close(ser)
diff --git a/user-code/dcmotor/julia/dcmotor-clock.jl b/user-code/dcmotor/julia/dcmotor-clock.jl
index 464fb5b..d0bf58c 100644
--- a/user-code/dcmotor/julia/dcmotor-clock.jl
+++ b/user-code/dcmotor/julia/dcmotor-clock.jl
@@ -2,8 +2,8 @@ using SerialPorts
 include("ArduinoTools.jl")
 
 ser = ArduinoTools.connectBoard(115200)
-ArduinoTools.DCMotorSetup(ser,3,1,9,10)
-ArduinoTools.DCMotorRun(ser,1,100)
+ArduinoTools.DCMotorSetup(ser, 3, 1, 9, 10)
+ArduinoTools.DCMotorRun(ser, 1, 100)
 sleep(3)
-ArduinoTools.DCMotorRelease(ser,1)
+ArduinoTools.DCMotorRelease(ser, 1)
 close(ser)
diff --git a/user-code/dcmotor/julia/dcmotor-loop.jl b/user-code/dcmotor/julia/dcmotor-loop.jl
index decbf5c..7281df3 100644
--- a/user-code/dcmotor/julia/dcmotor-loop.jl
+++ b/user-code/dcmotor/julia/dcmotor-loop.jl
@@ -2,14 +2,14 @@ using SerialPorts
 include("ArduinoTools.jl")
 
 ser = ArduinoTools.connectBoard(115200)
-ArduinoTools.DCMotorSetup(ser,3,1,9,10)
+ArduinoTools.DCMotorSetup(ser, 3, 1, 9, 10)
 for i = 1:4
-  ArduinoTools.DCMotorRun(ser,1,100)
+  ArduinoTools.DCMotorRun(ser, 1, 100)
   sleep(3)
-  ArduinoTools.DCMotorRun(ser,1,0)
+  ArduinoTools.DCMotorRun(ser, 1, 0)
   sleep(2)
-  ArduinoTools.DCMotorRun(ser,1,-100)
+  ArduinoTools.DCMotorRun(ser, 1, -100)
   sleep(2)
 end
-ArduinoTools.DCMotorRelease(ser,1)
+ArduinoTools.DCMotorRelease(ser, 1)
 close(ser)
diff --git a/user-code/dcmotor/python/dcmotor-both.py b/user-code/dcmotor/python/dcmotor-both.py
index 1db2463..286dcdb 100644
--- a/user-code/dcmotor/python/dcmotor-both.py
+++ b/user-code/dcmotor/python/dcmotor-both.py
@@ -1,8 +1,7 @@
 import os
 import sys
-cwd=os.getcwd()
-(setpath,Examples)=os.path.split(cwd)
-#print setpath
+cwd = os.getcwd()
+(setpath, Examples) = os.path.split(cwd)
 sys.path.append(setpath)
 
 from Arduino.Arduino import Arduino
@@ -10,31 +9,31 @@ from time import sleep
 
 class DCMOTOR_ROTATION:
 	def __init__(self,baudrate):
-		self.baudrate=baudrate
+		self.baudrate = baudrate
 		self.setup()
 		self.run()
 		self.exit()
 
 	def setup(self):
-		self.obj_arduino=Arduino()
-		self.port=self.obj_arduino.locateport()
-		self.obj_arduino.open_serial(1,self.port,self.baudrate)
+		self.obj_arduino = Arduino()
+		self.port = self.obj_arduino.locateport()
+		self.obj_arduino.open_serial(1, self.port, self.baudrate)
 
 	def run(self):
-		self.pin1=9
-		self.pin2=10
-		self.obj_arduino.cmd_dcmotor_setup(1,3,1,self.pin1,self.pin2)
-		self.obj_arduino.cmd_dcmotor_run(1,1,100)
+		self.pin1 = 9
+		self.pin2 = 10
+		self.obj_arduino.cmd_dcmotor_setup(1, 3, 1, self.pin1, self.pin2)
+		self.obj_arduino.cmd_dcmotor_run(1, 1, 100)
 		sleep(3)
-		self.obj_arduino.cmd_dcmotor_run(1,1,-100)
-		sleep(3)
-		self.obj_arduino.cmd_dcmotor_release(1,1)
+		self.obj_arduino.cmd_dcmotor_run(1, 1, -100)
+		sleep(2)
+		self.obj_arduino.cmd_dcmotor_release(1, 1)
 		
 	def exit(self):
 		self.obj_arduino.close_serial()
 
 def main():
-	obj_dcmotor=DCMOTOR_ROTATION(115200)
+	obj_dcmotor = DCMOTOR_ROTATION(115200)
 
-if __name__=='__main__':
+if __name__ == '__main__':
 	main()
diff --git a/user-code/dcmotor/python/dcmotor-clock.py b/user-code/dcmotor/python/dcmotor-clock.py
index 0a66f10..5b944f7 100644
--- a/user-code/dcmotor/python/dcmotor-clock.py
+++ b/user-code/dcmotor/python/dcmotor-clock.py
@@ -2,9 +2,8 @@ import os
 import sys
 import os 
 import sys
-cwd=os.getcwd()
-(setpath,Examples)=os.path.split(cwd)
-#print setpath
+cwd = os.getcwd()
+(setpath, Examples) = os.path.split(cwd)
 sys.path.append(setpath)
 
 from Arduino.Arduino import Arduino
@@ -12,26 +11,24 @@ from time import sleep
 
 class DCMOTOR_ROTATION:
 	def __init__(self,baudrate):
-		self.baudrate=baudrate
+		self.baudrate = baudrate
 		self.setup()
 		self.run()
 		self.exit()
 
 	def setup(self):
-		self.obj_arduino=Arduino()
-		self.port=self.obj_arduino.locateport()
-		self.obj_arduino.open_serial(1,self.port,self.baudrate)
+		self.obj_arduino = Arduino()
+		self.port = self.obj_arduino.locateport()
+		self.obj_arduino.open_serial(1, self.port, self.baudrate)
 
 	def run(self):
-		self.pin1=9
-		self.pin2=10
-		self.obj_arduino.cmd_dcmotor_setup(1,3,1,self.pin1,self.pin2)
-		self.obj_arduino.cmd_dcmotor_run(1,1,100)
-		sleep(2)
-		self.obj_arduino.cmd_dcmotor_release(1,1)
-		
-		
-			
+		self.pin1 = 9
+		self.pin2 = 10
+		self.obj_arduino.cmd_dcmotor_setup(1, 3, 1, self.pin1, self.pin2)
+		self.obj_arduino.cmd_dcmotor_run(1, 1, 100)
+		sleep(3)
+		self.obj_arduino.cmd_dcmotor_release(1, 1)
+					
 
 	def exit(self):
 		self.obj_arduino.close_serial()
diff --git a/user-code/dcmotor/python/dcmotor-loop.py b/user-code/dcmotor/python/dcmotor-loop.py
index dffbbb1..ee2f9cc 100644
--- a/user-code/dcmotor/python/dcmotor-loop.py
+++ b/user-code/dcmotor/python/dcmotor-loop.py
@@ -2,9 +2,8 @@ import os
 import sys
 import os 
 import sys
-cwd=os.getcwd()
-(setpath,Examples)=os.path.split(cwd)
-#print setpath
+cwd = os.getcwd()
+(setpath, Examples) = os.path.split(cwd)
 sys.path.append(setpath)
 
 from Arduino.Arduino import Arduino
@@ -12,26 +11,26 @@ from time import sleep
 
 class DCMOTOR_ROTATION:
 	def __init__(self,baudrate):
-		self.baudrate=baudrate
+		self.baudrate = baudrate
 		self.setup()
 		self.run()
 		self.exit()
 
 	def setup(self):
-		self.obj_arduino=Arduino()
-		self.port=self.obj_arduino.locateport()
-		self.obj_arduino.open_serial(1,self.port,self.baudrate)
+		self.obj_arduino = Arduino()
+		self.port = self.obj_arduino.locateport()
+		self.obj_arduino.open_serial(1, self.port, self.baudrate)
 
 	def run(self):
-		self.pin1=9
-		self.pin2=10
+		self.pin1 = 9
+		self.pin2 = 10
 		for i in range(4):
-			self.obj_arduino.cmd_dcmotor_setup(1,3,1,self.pin1,self.pin2)
-			self.obj_arduino.cmd_dcmotor_run(1,1,150)
+			self.obj_arduino.cmd_dcmotor_setup(1, 3, 1, self.pin1, self.pin2)
+			self.obj_arduino.cmd_dcmotor_run(1, 1, 100)
 			sleep(3)
 			self.obj_arduino.cmd_dcmotor_run(1,1,0)
 			sleep(2)
-			self.obj_arduino.cmd_dcmotor_run(1,1,-150)
+			self.obj_arduino.cmd_dcmotor_run(1,1,-100)
 			sleep(2)
 		self.obj_arduino.cmd_dcmotor_release(1,1)
 		
@@ -39,7 +38,7 @@ class DCMOTOR_ROTATION:
 		self.obj_arduino.close_serial()
 
 def main():
-	obj_dcmotor=DCMOTOR_ROTATION(115200)
+	obj_dcmotor = DCMOTOR_ROTATION(115200)
 
-if __name__=='__main__':
+if __name__== '__main__':
 	main()
diff --git a/user-code/dcmotor/scilab/dcmotor-both.sce b/user-code/dcmotor/scilab/dcmotor-both.sce
index 04f4ff8..4b03772 100644
--- a/user-code/dcmotor/scilab/dcmotor-both.sce
+++ b/user-code/dcmotor/scilab/dcmotor-both.sce
@@ -1,9 +1,8 @@
-ok = open_serial(1,2,115200)   //COM port is 2 and baud rate is 115200
-cmd_dcmotor_setup(1,3,1,10,11) // Setup DC motor of type 3 (L293D), motor 1, pin 9 and 10
-cmd_dcmotor_run(1,1,100)       // Motor 1 runs at PWM 100
+ok = open_serial(1, 2, 115200)   //COM port is 2 and baud rate is 115200
+cmd_dcmotor_setup(1, 3, 1, 9, 10) // Setup DC motor of type 3 (L293D), motor 1, pin 9 and 10
+cmd_dcmotor_run(1, 1, 100)       // Motor 1 runs at PWM 100
 sleep(3000)                    // for 3 seconds
-cmd_dcmotor_run(1,1,-100)      // Motor 1 runs at PWM -100 in reverse
-direction 
+cmd_dcmotor_run(1, 1, -100)      // Motor 1 runs at PWM -100 in reverse direction 
 sleep(2000)                    // for 2 seconds
-cmd_dcmotor_release(1,1)       // Motor 1 is released
-close_serial(1)
+cmd_dcmotor_release(1, 1)       // Motor 1 is released
+close_serial(1); 
diff --git a/user-code/dcmotor/scilab/dcmotor-both.zcos b/user-code/dcmotor/scilab/dcmotor-both.zcos
index 9af1541..dc0428c 100644
--- a/user-code/dcmotor/scilab/dcmotor-both.zcos
+++ b/user-code/dcmotor/scilab/dcmotor-both.zcos
diff --git a/user-code/dcmotor/scilab/dcmotor-clock.sce b/user-code/dcmotor/scilab/dcmotor-clock.sce
index 9a32392..d50bbee 100644
--- a/user-code/dcmotor/scilab/dcmotor-clock.sce
+++ b/user-code/dcmotor/scilab/dcmotor-clock.sce
@@ -1,6 +1,6 @@
-ok = open_serial(1,2,115200)   //COM port is 2 and baud rate is 115200
-cmd_dcmotor_setup(1,3,1,9,10)  // Setup DC motor of type 3 (L293D), motor 1, pin 9 and 10
-cmd_dcmotor_run(1,1,100) // Motor 1 runs at PWM 100
+ok = open_serial(1, 2, 115200)   //COM port is 2 and baud rate is 115200
+cmd_dcmotor_setup(1, 3, 1, 9, 10)  // Setup DC motor of type 3 (L293D), motor 1, pin 9 and 10
+cmd_dcmotor_run(1, 1, 100) // Motor 1 runs at PWM 100
 sleep(3000)              // This is allowed to continue for 3 seconds
-cmd_dcmotor_release(1,1) // Motor 1 is released
-close_serial(1)
+cmd_dcmotor_release(1, 1) // Motor 1 is released
+close_serial(1); 
diff --git a/user-code/dcmotor/scilab/dcmotor-clock.zcos b/user-code/dcmotor/scilab/dcmotor-clock.zcos
index 79f185b..9539a2a 100644
--- a/user-code/dcmotor/scilab/dcmotor-clock.zcos
+++ b/user-code/dcmotor/scilab/dcmotor-clock.zcos
diff --git a/user-code/dcmotor/scilab/dcmotor-loop.sce b/user-code/dcmotor/scilab/dcmotor-loop.sce
index ceee5a2..87b74e8 100644
--- a/user-code/dcmotor/scilab/dcmotor-loop.sce
+++ b/user-code/dcmotor/scilab/dcmotor-loop.sce
@@ -1,13 +1,13 @@
-ok = open_serial(1,2,115200)//COM port is 2 and baud rate is 115200
-if ok~=0, error('Serial port is not accesible'); end
-cmd_dcmotor_setup(1,3,1,9,10) // Setup DC motor of type 3 (L293D), motor 1, pins 9 and 10
-for x=1:4
-    cmd_dcmotor_run(1,1,100)  // Motor 1 runs at PWM 100
+ok = open_serial(1, 2, 115200)//COM port is 2 and baud rate is 115200
+if ok ~= 0, error('Serial port is not accesible'); end
+cmd_dcmotor_setup(1, 3, 1, 9, 10) // Setup DC motor of type 3 (L293D), motor 1, pins 9 and 10
+for i = 1:4
+    cmd_dcmotor_run(1, 1, 100)  // Motor 1 runs at PWM 100
     sleep(3000)               // for 3 seconds
-    cmd_dcmotor_run(1,1,0)    // Halt the motor
-    sleep(2000)		      // for 2 seconds
-    cmd_dcmotor_run(1,1,-100) // Run it at PWM 100 in reverse direction
+    cmd_dcmotor_run(1, 1, 0)    // Halt the motor
+    sleep(2000) 	      // for 2 seconds
+    cmd_dcmotor_run(1, 1, -100) // Run it at PWM 100 in reverse direction
     sleep(2000)               // for 2 seconds
 end
-cmd_dcmotor_release(1,1)      // Motor 1 is released
-close_serial(1)
+cmd_dcmotor_release(1, 1)      // Motor 1 is released
+close_serial(1); 
diff --git a/user-code/dcmotor/scilab/dcmotor-loop.zcos b/user-code/dcmotor/scilab/dcmotor-loop.zcos
index 1f3ff68..cb6f95a 100644
--- a/user-code/dcmotor/scilab/dcmotor-loop.zcos
+++ b/user-code/dcmotor/scilab/dcmotor-loop.zcos