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author | SudhakarKuma | 2021-05-04 00:35:29 +0530 |
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committer | SudhakarKuma | 2021-05-04 00:35:29 +0530 |
commit | 2c38e8e0c21106d231ce1496109486a4d54267c9 (patch) | |
tree | beb69ead8dab502df48f509b1314a416d0413a60 | |
parent | 7080068e30db8bac72b209cddf9746c63f6c1535 (diff) | |
download | FLOSS-Arduino-Book-2c38e8e0c21106d231ce1496109486a4d54267c9.tar.gz FLOSS-Arduino-Book-2c38e8e0c21106d231ce1496109486a4d54267c9.tar.bz2 FLOSS-Arduino-Book-2c38e8e0c21106d231ce1496109486a4d54267c9.zip |
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 Binary files differindex 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 Binary files differindex 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 Binary files differindex 1f3ff68..cb6f95a 100644 --- a/user-code/dcmotor/scilab/dcmotor-loop.zcos +++ b/user-code/dcmotor/scilab/dcmotor-loop.zcos |