Fix chapter on DC motor

21 files changed, 1660 insertions, 1163 deletions

diff --git a/bibliography.bib b/bibliography.bib
index 2a801be..8adec9b 100644
--- a/bibliography.bib
+++ b/bibliography.bib
@@ -218,3 +218,16 @@ note = {Seen on 2 May 2021},
 OPTannote = {}
 }
 
+@Misc{arduino-pwm,
+OPTkey = {},
+author = {},
+title = {Secrets of Arduino PWM},
+howpublished = {https://www.arduino.cc/en/Tutorial/SecretsOfArduinoPWM},
+OPTmonth = {},
+year = {},
+note = {Seen on 5 May 2021},
+OPTannote = {}
+}
+
+
+
diff --git a/floss-arduino.OpenModelicad b/floss-arduino.OpenModelicad
index f50d9ef..b8a8c48 100644
--- a/floss-arduino.OpenModelicad
+++ b/floss-arduino.OpenModelicad
@@ -21,10 +21,10 @@
 \contentsline {section}{\numberline {9.{3}}Rotating the servomotor in steps of $20^\circ $}{193}%
 \contentsline {section}{\numberline {9.{4}}Rotating the servomotor to a degree specified by the potentiometer}{194}%
 \addvspace {10pt}
-\contentsline {section}{\numberline {10.{1}}Rotating the DC motor}{216}%
-\contentsline {section}{\numberline {10.{2}}Rotating the DC motor in both directions}{216}%
-\contentsline {section}{\numberline {10.{3}}Rotating the DC motor in both directions in a loop}{217}%
+\contentsline {section}{\numberline {10.{1}}Rotating the DC motor}{222}%
+\contentsline {section}{\numberline {10.{2}}Rotating the DC motor in both directions}{223}%
+\contentsline {section}{\numberline {10.{3}}Rotating the DC motor in both directions in a loop}{223}%
 \addvspace {10pt}
-\contentsline {section}{\numberline {11.{1}}Code for Single Phase Current Output}{236}%
-\contentsline {section}{\numberline {11.{2}}Code for Single Phase Voltage Output}{236}%
-\contentsline {section}{\numberline {11.{3}}Code for Single Phase Active Power Output}{237}%
+\contentsline {section}{\numberline {11.{1}}Code for Single Phase Current Output}{242}%
+\contentsline {section}{\numberline {11.{2}}Code for Single Phase Voltage Output}{242}%
+\contentsline {section}{\numberline {11.{3}}Code for Single Phase Active Power Output}{243}%
diff --git a/floss-arduino.ard b/floss-arduino.ard
index d11c37d..b03b254 100644
--- a/floss-arduino.ard
+++ b/floss-arduino.ard
@@ -22,7 +22,7 @@
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-\contentsline {section}{\numberline {10.{2}}Rotating the DC motor in both directions}{201}%
-\contentsline {section}{\numberline {10.{3}}Rotating the DC motor in both directions in a loop}{201}%
+\contentsline {section}{\numberline {10.{2}}Rotating the DC motor in both directions}{202}%
+\contentsline {section}{\numberline {10.{3}}Rotating the DC motor in both directions in a loop}{202}%
 \addvspace {10pt}
-\contentsline {section}{\numberline {11.{1}}First 10 lines of the firmware for Modbus Energy Meter experiment}{231}%
+\contentsline {section}{\numberline {11.{1}}First 10 lines of the firmware for Modbus Energy Meter experiment}{237}%
diff --git a/floss-arduino.aux b/floss-arduino.aux
index bea07bd..72e8caf 100644
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 \bibcite{CNES-Scilab}{1}
 \bibcite{scilab-arduino}{2}
 \bibcite{oshw-ref}{3}
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 \bibcite{scilab-ref}{12}
 \bibcite{scilab-interop}{13}
 \bibcite{xcos-ref}{14}
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 \bibcite{python-ref}{15}
 \bibcite{pySerial}{16}
 \bibcite{julia-ref}{17}
 \bibcite{julia-serial-ports}{18}
 \bibcite{om-ref}{19}
 \bibcite{therm-wiki}{20}
+\bibcite{arduino-pwm}{21}
diff --git a/floss-arduino.bbl b/floss-arduino.bbl
index ffcc6d7..3203ef0 100644
--- a/floss-arduino.bbl
+++ b/floss-arduino.bbl
@@ -106,4 +106,9 @@ Thermistor - wikipedia.
 \newblock https://en.wikipedia.org/wiki/Thermistor.
 \newblock Seen on 2 May 2021.
 
+\bibitem{arduino-pwm}
+Secrets of arduino pwm.
+\newblock https://www.arduino.cc/en/Tutorial/SecretsOfArduinoPWM.
+\newblock Seen on 5 May 2021.
+
 \end{thebibliography}
diff --git a/floss-arduino.blg b/floss-arduino.blg
index 66b45de..7922b73 100644
--- a/floss-arduino.blg
+++ b/floss-arduino.blg
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diff --git a/floss-arduino.cod b/floss-arduino.cod
index b3f93b5..cf31502 100644
--- a/floss-arduino.cod
+++ b/floss-arduino.cod
@@ -24,11 +24,11 @@
 \contentsline {section}{\numberline {9.{3}}Rotating the servomotor in steps of $20^\circ $}{179}%
 \contentsline {section}{\numberline {9.{4}}Rotating the servomotor to a degree specified by the potentiometer}{179}%
 \addvspace {10pt}
-\contentsline {section}{\numberline {10.{1}}Rotating the DC motor}{205}%
-\contentsline {section}{\numberline {10.{2}}Rotating the DC motor in both directions}{205}%
-\contentsline {section}{\numberline {10.{3}}Rotating the DC motor in both directions in a loop}{205}%
-\addvspace {10pt}
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-\contentsline {section}{\numberline {11.{3}}First 10 lines of the code for Single Phase Voltage Output}{233}%
-\contentsline {section}{\numberline {11.{4}}First 10 lines of the code for Single Phase Active Power Output}{234}%
+\contentsline {section}{\numberline {10.{1}}Rotating the DC motor}{206}%
+\contentsline {section}{\numberline {10.{2}}Rotating the DC motor in both directions}{206}%
+\contentsline {section}{\numberline {10.{3}}Rotating the DC motor in both directions in a loop}{206}%
+\addvspace {10pt}
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+\contentsline {section}{\numberline {11.{2}}First 10 lines of the code for Single Phase Current Output}{239}%
+\contentsline {section}{\numberline {11.{3}}First 10 lines of the code for Single Phase Voltage Output}{239}%
+\contentsline {section}{\numberline {11.{4}}First 10 lines of the code for Single Phase Active Power Output}{240}%
diff --git a/floss-arduino.fdb_latexmk b/floss-arduino.fdb_latexmk
index 28a1172..be3c092 100644
--- a/floss-arduino.fdb_latexmk
+++ b/floss-arduino.fdb_latexmk
@@ -1,19 +1,19 @@
 # Fdb version 3
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-  "floss-arduino.aux" 1620094028 137471 a87faa89540acc556c2e239224ba4c60 "pdflatex"
+  "bibliography.bib" 1620178718 4558 9df9b0b27759d4cfc637a7b5fff89181 ""
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+  "floss-arduino.idx" 1620197977 187 3ea6c935c61035ccb5c169fb34e1da05 "pdflatex"
   (generated)
-  "floss-arduino.ind"
   "floss-arduino.ilg"
-["pdflatex"] 1620094019 "/home/fossee/Desktop/floss-scilab-arduino/floss-arduino.tex" "/home/fossee/Desktop/floss-scilab-arduino/floss-arduino.pdf" "floss-arduino" 1620094206
+  "floss-arduino.ind"
+["pdflatex"] 1620197856 "/home/fossee/Desktop/floss-scilab-arduino/floss-arduino.tex" "/home/fossee/Desktop/floss-scilab-arduino/floss-arduino.pdf" "floss-arduino" 1620197995
   "/etc/texmf/web2c/texmf.cnf" 1602253014 475 c0e671620eb5563b2130f56340a5fde8 ""
-  "/home/fossee/Desktop/floss-scilab-arduino/floss-arduino.aux" 1620094028 137471 a87faa89540acc556c2e239224ba4c60 ""
+  "/home/fossee/Desktop/floss-scilab-arduino/floss-arduino.aux" 1620197977 142055 3c9adbe1f02b38171411d8f9eb5e29d6 ""
   "/home/fossee/Desktop/floss-scilab-arduino/floss-arduino.tex" 1620092361 4558 98aa7ac618326a3037ae9c9d0000888c ""
   "/usr/share/texlive/texmf-dist/fonts/enc/dvips/base/8r.enc" 1165713224 4850 80dc9bab7f31fb78a000ccfed0e27cab ""
   "/usr/share/texlive/texmf-dist/fonts/map/fontname/texfonts.map" 1577235249 3524 cb3e574dea2d1052e39280babc910dc8 ""
@@ -138,18 +138,18 @@
   "/usr/share/texmf/web2c/texmf.cnf" 1581979058 38841 ce3692aa899bb693b90b87eaa5d4d84e ""
   "/var/lib/texmf/fonts/map/pdftex/updmap/pdftex.map" 1604540077 4770781 1ed1abab22da9c3e2cc82e4db562318b ""
   "/var/lib/texmf/web2c/pdftex/pdflatex.fmt" 1604540101 8258883 e8330f8aa4fe7c6cdcf08bf0b72237fd ""
-  "floss-arduino.OpenModelicad" 1620094028 2294 ac130e048198c1df4cb7d4392d2be245 "pdflatex"
-  "floss-arduino.ard" 1620094028 2072 fe1a39f1ca04ac6c60ab23151da74ab9 "pdflatex"
-  "floss-arduino.aux" 1620094028 137471 a87faa89540acc556c2e239224ba4c60 "pdflatex"
-  "floss-arduino.bbl" 1620094019 2782 f2a4ed925cf6e3e12688ffdf458c1df4 "bibtex floss-arduino"
-  "floss-arduino.cod" 1620094028 2496 fdff9ecbb805f98b420e19facde91c03 "pdflatex"
-  "floss-arduino.ind" 1620092370 228 9a9af8565fd0a0b7fd9f2f6d781fe4c6 "makeindex floss-arduino.idx"
-  "floss-arduino.juliad" 1620094028 2328 052afe4539a8d1213f11e6d5cca27c40 "pdflatex"
-  "floss-arduino.lof" 1620094028 13301 7fbcd6b866f83eae424a7d0c655907ff "pdflatex"
-  "floss-arduino.lot" 1620094028 3702 a0f286e6ee2cc188b7e5ddd4084db085 "pdflatex"
-  "floss-arduino.pyd" 1620094028 2323 7d8b2debc48bdf22d2f0ee7f6668a07b "pdflatex"
+  "floss-arduino.OpenModelicad" 1620197977 2294 40e2e23c39a022be21dea10d27626604 "pdflatex"
+  "floss-arduino.ard" 1620197977 2072 2ab0f4ce6f60daa81138bac0e30a2c4f "pdflatex"
+  "floss-arduino.aux" 1620197977 142055 3c9adbe1f02b38171411d8f9eb5e29d6 "pdflatex"
+  "floss-arduino.bbl" 1620197856 2925 895f098dadb71828a3cfe277ebaff5f6 "bibtex floss-arduino"
+  "floss-arduino.cod" 1620197977 2496 2a657aa8c5a8852d23c78dfe3546dc54 "pdflatex"
+  "floss-arduino.ind" 1620196688 228 9a9af8565fd0a0b7fd9f2f6d781fe4c6 "makeindex floss-arduino.idx"
+  "floss-arduino.juliad" 1620197977 2328 277569d91626c96de9945b6fe3d5379e "pdflatex"
+  "floss-arduino.lof" 1620197977 13301 0038d444132c4fe8013d31e15adbeaa2 "pdflatex"
+  "floss-arduino.lot" 1620197977 3596 f36d068cb1378a0e9d7cbc9fdc57a6f9 "pdflatex"
+  "floss-arduino.pyd" 1620197977 2323 ee68eadedfb59a7c5a12563da02548bb "pdflatex"
   "floss-arduino.tex" 1620092361 4558 98aa7ac618326a3037ae9c9d0000888c ""
-  "floss-arduino.toc" 1620094028 15732 d4f5ea4c6c51fd7213f0f8f5e8960aa3 "pdflatex"
+  "floss-arduino.toc" 1620197977 15922 13faa7d0f6a781f90ab6a8a65d3a17c8 "pdflatex"
   "suppl/acr.tex" 1615963613 1926 fd6481c4666ee0d60331b7d4cc24b645 ""
   "suppl/intro.tex" 1615963613 3437 b09628cf9e20fe17fa65b37a5997653c ""
   "suppl/styles.tex" 1615963613 8143 aa3280f0b59c8631fe8ec44895c9e871 ""
@@ -167,7 +167,7 @@
   "user-code/dcmotor/arduino/dcmotor-both/dcmotor-both.ino" 1620088994 504 8a85b1257282a49f134cec02b30182e2 ""
   "user-code/dcmotor/arduino/dcmotor-clock/dcmotor-clock.ino" 1620088994 426 6316038efc09b67c75c077917c40e3e4 ""
   "user-code/dcmotor/arduino/dcmotor-loop/dcmotor-loop.ino" 1620088994 665 a13b061f7e773a0ff7e178ed73915282 ""
-  "user-code/dcmotor/dcmotor.tex" 1615963613 35419 acf00cf712b465581c4c33dac479bd10 ""
+  "user-code/dcmotor/dcmotor.tex" 1620197952 63900 916dd2ecfc8840b3dd0729045034a511 ""
   "user-code/dcmotor/figures/dc_motor_description.jpg" 1615963613 694440 a424c50ad327bc459a4ab4808f398262 ""
   "user-code/dcmotor/figures/dcmotor-both.png" 1615963613 32214 a1429a4cc0aee2d50d6c8b886530f9e9 ""
   "user-code/dcmotor/figures/dcmotor-clock.png" 1615963613 26079 07178ea354fae535528fba334b484540 ""
@@ -326,7 +326,7 @@
   "user-code/servo/scilab/servo-loop.sce" 1620088994 525 6a4902117c83c5390c1877a95a5e363e ""
   "user-code/servo/scilab/servo-pot.sce" 1620088994 530 2d82664fdd3a16c6588b2a4dc4e66a22 ""
   "user-code/servo/scilab/servo-reverse.sce" 1620088994 532 11110ec91f2ddb2261afbbec00198d94 ""
-  "user-code/servo/servo.tex" 1615963614 31611 e3f0d13456b70c6dd1e59b883a572ee6 ""
+  "user-code/servo/servo.tex" 1620172500 31612 4a0557ac3bbe427718bf4ab406dd3b88 ""
   "user-code/sw-env/figures/OMEdit-UI.png" 1618566985 1412111 17b388a3069a3685b7d14c6fb67ee8eb ""
   "user-code/sw-env/figures/OMEdit-libraries.png" 1617394693 154031 fd27a1537f6271ab01c53fd1d2c9d214 ""
   "user-code/sw-env/figures/arduino-palette.png" 1615963614 10751 8229db142816e63c5b5761df7ebf0e33 ""
@@ -366,7 +366,7 @@
   "user-code/sw-env/figures/win-command-prompt.png" 1619057483 18481 e5638717dbbb0533251e1adcbc9b10f0 ""
   "user-code/sw-env/figures/windows-cmd.png" 1619057155 18559 6c4f07f73f86b74127aa8c76e23f3285 ""
   "user-code/sw-env/figures/xcos-help.png" 1615963614 87275 3c9b5157ebebe381cd7b5281cdd28482 ""
-  "user-code/sw-env/sw-env.tex" 1619780680 91708 95fa657c1f21492e2c046423c051522a ""
+  "user-code/sw-env/sw-env.tex" 1620197995 91737 46243d4865344f39ad0d2a60d38eda86 ""
   "user-code/thermistor/OpenModelica/therm-buzzer.mo" 1620088994 1299 e1551a279a3614eeaf9116b1002e12eb ""
   "user-code/thermistor/OpenModelica/therm-read.mo" 1620088994 882 b7d88b5d1f38eff59552a98507af5858 ""
   "user-code/thermistor/arduino/therm-buzzer/therm-buzzer.ino" 1620088994 436 95759b7a9f40f5df3f6bf578fac78e35 ""
@@ -389,18 +389,18 @@
   "user-code/thermistor/scilab/therm-read.sce" 1619998644 399 3d4d94a3003c16014a51200a9b472b66 ""
   "user-code/thermistor/thermistor.tex" 1620094206 41317 2326a2c871f17f79a710f7c64b8a31e5 ""
   (generated)
-  "floss-arduino.idx"
-  "floss-arduino.toc"
-  "floss-arduino.cod"
-  "/home/fossee/Desktop/floss-scilab-arduino/floss-arduino.log"
   "floss-arduino.log"
+  "floss-arduino.thm"
+  "/home/fossee/Desktop/floss-scilab-arduino/floss-arduino.log"
+  "floss-arduino.idx"
   "floss-arduino.aux"
+  "floss-arduino.ard"
+  "floss-arduino.lot"
+  "floss-arduino.pdf"
+  "floss-arduino.cod"
+  "floss-arduino.pyd"
   "/home/fossee/Desktop/floss-scilab-arduino/floss-arduino.pdf"
   "floss-arduino.lof"
-  "floss-arduino.thm"
-  "floss-arduino.pdf"
-  "floss-arduino.OpenModelicad"
-  "floss-arduino.lot"
   "floss-arduino.juliad"
-  "floss-arduino.ard"
-  "floss-arduino.pyd"
+  "floss-arduino.OpenModelicad"
+  "floss-arduino.toc"
diff --git a/floss-arduino.fls b/floss-arduino.fls
index 6939896..c14abc0 100644
--- a/floss-arduino.fls
+++ b/floss-arduino.fls
@@ -1028,6 +1028,21 @@ INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/figures/schema
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/figures/dc_motor_description.jpg
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/figures/dc_motor_description.jpg
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/figures/dc_motor_description.jpg
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/arduino/dcmotor-clock/dcmotor-clock.ino
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/arduino/dcmotor-clock/dcmotor-clock.ino
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/arduino/dcmotor-clock/dcmotor-clock.ino
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/arduino/dcmotor-clock/dcmotor-clock.ino
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/arduino/dcmotor-clock/dcmotor-clock.ino
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/arduino/dcmotor-clock/dcmotor-clock.ino
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/arduino/dcmotor-clock/dcmotor-clock.ino
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/arduino/dcmotor-clock/dcmotor-clock.ino
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/arduino/dcmotor-clock/dcmotor-clock.ino
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/arduino/dcmotor-both/dcmotor-both.ino
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/arduino/dcmotor-both/dcmotor-both.ino
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/arduino/dcmotor-both/dcmotor-both.ino
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/arduino/dcmotor-both/dcmotor-both.ino
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/arduino/dcmotor-both/dcmotor-both.ino
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/arduino/dcmotor-both/dcmotor-both.ino
 INPUT /usr/share/texlive/texmf-dist/fonts/tfm/jknappen/ec/ecsi1095.tfm
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/arduino/dcmotor-clock/dcmotor-clock.ino
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/arduino/dcmotor-clock/dcmotor-clock.ino
@@ -1050,6 +1065,12 @@ INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/scilab/dcmotor
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/scilab/dcmotor-clock.sce
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/scilab/dcmotor-clock.sce
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/scilab/dcmotor-clock.sce
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/scilab/dcmotor-both.sce
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/scilab/dcmotor-both.sce
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/scilab/dcmotor-both.sce
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/scilab/dcmotor-both.sce
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/scilab/dcmotor-both.sce
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/scilab/dcmotor-both.sce
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/scilab/dcmotor-clock.sce
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/scilab/dcmotor-clock.sce
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/scilab/dcmotor-clock.sce
@@ -1071,6 +1092,24 @@ INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/figures/dcmoto
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/python/dcmotor-clock.py
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/python/dcmotor-clock.py
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/python/dcmotor-clock.py
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/python/dcmotor-clock.py
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/python/dcmotor-clock.py
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/python/dcmotor-clock.py
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/python/dcmotor-clock.py
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/python/dcmotor-clock.py
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/python/dcmotor-clock.py
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/python/dcmotor-clock.py
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/python/dcmotor-clock.py
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/python/dcmotor-clock.py
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/python/dcmotor-both.py
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/python/dcmotor-both.py
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/python/dcmotor-both.py
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/python/dcmotor-both.py
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/python/dcmotor-both.py
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/python/dcmotor-both.py
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/python/dcmotor-clock.py
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/python/dcmotor-clock.py
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/python/dcmotor-clock.py
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/python/dcmotor-both.py
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/python/dcmotor-both.py
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/python/dcmotor-both.py
@@ -1080,6 +1119,24 @@ INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/python/dcmotor
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/julia/dcmotor-clock.jl
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/julia/dcmotor-clock.jl
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/julia/dcmotor-clock.jl
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/julia/dcmotor-clock.jl
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/julia/dcmotor-clock.jl
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/julia/dcmotor-clock.jl
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/julia/dcmotor-clock.jl
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/julia/dcmotor-clock.jl
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/julia/dcmotor-clock.jl
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/julia/dcmotor-clock.jl
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/julia/dcmotor-clock.jl
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/julia/dcmotor-clock.jl
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/julia/dcmotor-both.jl
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/julia/dcmotor-both.jl
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/julia/dcmotor-both.jl
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/julia/dcmotor-both.jl
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/julia/dcmotor-both.jl
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/julia/dcmotor-both.jl
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/julia/dcmotor-clock.jl
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/julia/dcmotor-clock.jl
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/julia/dcmotor-clock.jl
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/julia/dcmotor-both.jl
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/julia/dcmotor-both.jl
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/julia/dcmotor-both.jl
@@ -1089,6 +1146,24 @@ INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/julia/dcmotor-
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/OpenModelica/dcmotor-clock.mo
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/OpenModelica/dcmotor-clock.mo
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/OpenModelica/dcmotor-clock.mo
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/OpenModelica/dcmotor-clock.mo
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/OpenModelica/dcmotor-clock.mo
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/OpenModelica/dcmotor-clock.mo
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/OpenModelica/dcmotor-clock.mo
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/OpenModelica/dcmotor-clock.mo
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/OpenModelica/dcmotor-clock.mo
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/OpenModelica/dcmotor-clock.mo
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/OpenModelica/dcmotor-clock.mo
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/OpenModelica/dcmotor-clock.mo
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/OpenModelica/dcmotor-both.mo
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/OpenModelica/dcmotor-both.mo
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/OpenModelica/dcmotor-both.mo
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/OpenModelica/dcmotor-both.mo
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/OpenModelica/dcmotor-both.mo
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/OpenModelica/dcmotor-both.mo
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/OpenModelica/dcmotor-clock.mo
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/OpenModelica/dcmotor-clock.mo
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/OpenModelica/dcmotor-clock.mo
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/OpenModelica/dcmotor-both.mo
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/OpenModelica/dcmotor-both.mo
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/OpenModelica/dcmotor-both.mo
diff --git a/floss-arduino.juliad b/floss-arduino.juliad
index f381bf1..fccaf6e 100644
--- a/floss-arduino.juliad
+++ b/floss-arduino.juliad
@@ -21,10 +21,10 @@
 \contentsline {section}{\numberline {9.{3}}Rotating the servomotor in steps of $20^\circ $}{190}%
 \contentsline {section}{\numberline {9.{4}}Rotating the servomotor to a degree specified by the potentiometer}{191}%
 \addvspace {10pt}
-\contentsline {section}{\numberline {10.{1}}Rotating the DC motor}{214}%
-\contentsline {section}{\numberline {10.{2}}Rotating the DC motor in both directions}{215}%
-\contentsline {section}{\numberline {10.{3}}Rotating the DC motor in both directions in a loop}{215}%
+\contentsline {section}{\numberline {10.{1}}Rotating the DC motor}{218}%
+\contentsline {section}{\numberline {10.{2}}Rotating the DC motor in both directions}{219}%
+\contentsline {section}{\numberline {10.{3}}Rotating the DC motor in both directions in a loop}{219}%
 \addvspace {10pt}
-\contentsline {section}{\numberline {11.{1}}Code for Single Phase Current Output}{235}%
-\contentsline {section}{\numberline {11.{2}}Code for Single Phase Voltage Output}{235}%
-\contentsline {section}{\numberline {11.{3}}First 10 lines of the code for Single Phase Active Power Output}{236}%
+\contentsline {section}{\numberline {11.{1}}Code for Single Phase Current Output}{241}%
+\contentsline {section}{\numberline {11.{2}}Code for Single Phase Voltage Output}{241}%
+\contentsline {section}{\numberline {11.{3}}First 10 lines of the code for Single Phase Active Power Output}{242}%
diff --git a/floss-arduino.lof b/floss-arduino.lof
index 89bfadb..0ba296c 100644
--- a/floss-arduino.lof
+++ b/floss-arduino.lof
@@ -110,22 +110,22 @@
 \addvspace {10\p@ }
 \contentsline {figure}{\numberline {10.1}{\ignorespaces L293D motor driver board\relax }}{198}%
 \contentsline {figure}{\numberline {10.2}{\ignorespaces A schematic of DC motor connections\relax }}{199}%
-\contentsline {figure}{\numberline {10.3}{\ignorespaces How to connect the DC motor to the Arduino Uno\ board\relax }}{199}%
-\contentsline {figure}{\numberline {10.4}{\ignorespaces Control of DC motor for a specified time from Xcos}}{206}%
-\contentsline {figure}{\numberline {10.5}{\ignorespaces Xcos control of the DC motor in forward and reverse directions}}{208}%
-\contentsline {figure}{\numberline {10.6}{\ignorespaces Xcos control of the DC motor in forward and reverse directions}}{209}%
+\contentsline {figure}{\numberline {10.3}{\ignorespaces How to connect the DC motor to the Arduino Uno\ board\relax }}{200}%
+\contentsline {figure}{\numberline {10.4}{\ignorespaces Control of DC motor for a specified time from Xcos}}{207}%
+\contentsline {figure}{\numberline {10.5}{\ignorespaces Xcos control of the DC motor in forward and reverse directions}}{209}%
+\contentsline {figure}{\numberline {10.6}{\ignorespaces Xcos control of the DC motor in forward and reverse directions}}{210}%
 \addvspace {10\p@ }
-\contentsline {figure}{\numberline {11.1}{\ignorespaces Block diagram representation of the Protocol\relax }}{220}%
-\contentsline {figure}{\numberline {11.2}{\ignorespaces Master-Slave Query-Response Cycle\relax }}{220}%
-\contentsline {figure}{\numberline {11.3}{\ignorespaces Pins in RS485 module\relax }}{221}%
-\contentsline {figure}{\numberline {11.4}{\ignorespaces MODBUS Set Up for Energy Meter\relax }}{225}%
-\contentsline {figure}{\numberline {11.5}{\ignorespaces Block Diagram for Energy Meter Setup\relax }}{226}%
-\contentsline {figure}{\numberline {11.6}{\ignorespaces Flowchart of Arduino firmware\relax }}{227}%
-\contentsline {figure}{\numberline {11.7}{\ignorespaces Flow Chart of the Modbus Energy Meter Implementation\relax }}{228}%
-\contentsline {figure}{\numberline {11.8}{\ignorespaces Single Phase Current Output on Scilab Console\relax }}{229}%
-\contentsline {figure}{\numberline {11.9}{\ignorespaces Single Phase Current Output on Energy Meter\relax }}{229}%
-\contentsline {figure}{\numberline {11.10}{\ignorespaces Single Phase Voltage Output on Scilab Console\relax }}{230}%
-\contentsline {figure}{\numberline {11.11}{\ignorespaces Single Phase Voltage Output on Energy Meter\relax }}{230}%
-\contentsline {figure}{\numberline {11.12}{\ignorespaces Single Phase Voltage Output on Scilab Console\relax }}{231}%
-\contentsline {figure}{\numberline {11.13}{\ignorespaces Single Phase Voltage Output on Energy Meter\relax }}{231}%
-\contentsline {figure}{\numberline {11.14}{\ignorespaces Xcos diagram to read Energy Meter values}}{232}%
+\contentsline {figure}{\numberline {11.1}{\ignorespaces Block diagram representation of the Protocol\relax }}{226}%
+\contentsline {figure}{\numberline {11.2}{\ignorespaces Master-Slave Query-Response Cycle\relax }}{226}%
+\contentsline {figure}{\numberline {11.3}{\ignorespaces Pins in RS485 module\relax }}{227}%
+\contentsline {figure}{\numberline {11.4}{\ignorespaces MODBUS Set Up for Energy Meter\relax }}{231}%
+\contentsline {figure}{\numberline {11.5}{\ignorespaces Block Diagram for Energy Meter Setup\relax }}{232}%
+\contentsline {figure}{\numberline {11.6}{\ignorespaces Flowchart of Arduino firmware\relax }}{233}%
+\contentsline {figure}{\numberline {11.7}{\ignorespaces Flow Chart of the Modbus Energy Meter Implementation\relax }}{234}%
+\contentsline {figure}{\numberline {11.8}{\ignorespaces Single Phase Current Output on Scilab Console\relax }}{235}%
+\contentsline {figure}{\numberline {11.9}{\ignorespaces Single Phase Current Output on Energy Meter\relax }}{235}%
+\contentsline {figure}{\numberline {11.10}{\ignorespaces Single Phase Voltage Output on Scilab Console\relax }}{236}%
+\contentsline {figure}{\numberline {11.11}{\ignorespaces Single Phase Voltage Output on Energy Meter\relax }}{236}%
+\contentsline {figure}{\numberline {11.12}{\ignorespaces Single Phase Voltage Output on Scilab Console\relax }}{237}%
+\contentsline {figure}{\numberline {11.13}{\ignorespaces Single Phase Voltage Output on Energy Meter\relax }}{237}%
+\contentsline {figure}{\numberline {11.14}{\ignorespaces Xcos diagram to read Energy Meter values}}{238}%
diff --git a/floss-arduino.log b/floss-arduino.log
index f5a4d2d..9b49647 100644
--- a/floss-arduino.log
+++ b/floss-arduino.log
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 []\T1/cmr/m/n/10.95 Then, one has to browse to the tool-box folder \T1/fvm/m/n/
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  []
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  \T1/fvm/m/n/10.95 exec builder.sce
  []
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 []\T1/cmr/m/n/10.95 First, up-date your sys-tem. Open the Ter-mi-nal. Type \T1/
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  []
 
 
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  []
 
 
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 \T1/cmr/m/n/10.95 el-ica_Synchronous, Mod-el-ica_DeviceDrivers, and one model t
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diff --git a/floss-arduino.lot b/floss-arduino.lot
index 4cd8b59..ebdeecf 100644
--- a/floss-arduino.lot
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-\contentsline {egmass}{{Exercise}{10.{1}}{}}{200}%
+\contentsline {egmass}{{Exercise}{10.{1}}{}}{201}%
 \contentsline {ardmass}{{Arduino Code}{10.{1}}{}}{201}%
-\contentsline {ardmass}{{Arduino Code}{10.{2}}{}}{201}%
-\contentsline {ardmass}{{Arduino Code}{10.{3}}{}}{201}%
-\contentsline {egmass}{{Exercise}{10.{2}}{}}{204}%
-\contentsline {codemass}{{Scilab Code}{10.{1}}{}}{205}%
-\contentsline {codemass}{{Scilab Code}{10.{2}}{}}{205}%
-\contentsline {codemass}{{Scilab Code}{10.{3}}{}}{205}%
-\contentsline {egmass}{{Exercise}{10.{3}}{}}{207}%
-\contentsline {pymass}{{Python Code}{10.{1}}{}}{211}%
-\contentsline {pymass}{{Python Code}{10.{2}}{}}{212}%
-\contentsline {pymass}{{Python Code}{10.{3}}{}}{212}%
-\contentsline {juliamass}{{Julia Code}{10.{1}}{}}{214}%
-\contentsline {juliamass}{{Julia Code}{10.{2}}{}}{215}%
-\contentsline {juliamass}{{Julia Code}{10.{3}}{}}{215}%
-\contentsline {OpenModelicamass}{{OpenModelica Code}{10.{1}}{}}{216}%
-\contentsline {OpenModelicamass}{{OpenModelica Code}{10.{2}}{}}{216}%
-\contentsline {OpenModelicamass}{{OpenModelica Code}{10.{3}}{}}{217}%
-\contentsline {ardmass}{{Arduino Code}{11.{1}}{}}{231}%
-\contentsline {codemass}{{Scilab Code}{11.{1}}{}}{233}%
-\contentsline {codemass}{{Scilab Code}{11.{2}}{}}{233}%
-\contentsline {codemass}{{Scilab Code}{11.{3}}{}}{233}%
-\contentsline {codemass}{{Scilab Code}{11.{4}}{}}{234}%
-\contentsline {pymass}{{Python Code}{11.{1}}{}}{234}%
-\contentsline {pymass}{{Python Code}{11.{2}}{}}{234}%
-\contentsline {pymass}{{Python Code}{11.{3}}{}}{235}%
-\contentsline {juliamass}{{Julia Code}{11.{1}}{}}{235}%
-\contentsline {juliamass}{{Julia Code}{11.{2}}{}}{235}%
-\contentsline {juliamass}{{Julia Code}{11.{3}}{}}{236}%
-\contentsline {OpenModelicamass}{{OpenModelica Code}{11.{1}}{}}{236}%
-\contentsline {OpenModelicamass}{{OpenModelica Code}{11.{2}}{}}{236}%
-\contentsline {OpenModelicamass}{{OpenModelica Code}{11.{3}}{}}{237}%
+\contentsline {ardmass}{{Arduino Code}{10.{2}}{}}{202}%
+\contentsline {ardmass}{{Arduino Code}{10.{3}}{}}{202}%
+\contentsline {egmass}{{Exercise}{10.{2}}{}}{205}%
+\contentsline {codemass}{{Scilab Code}{10.{1}}{}}{206}%
+\contentsline {codemass}{{Scilab Code}{10.{2}}{}}{206}%
+\contentsline {codemass}{{Scilab Code}{10.{3}}{}}{206}%
+\contentsline {egmass}{{Exercise}{10.{3}}{}}{208}%
+\contentsline {pymass}{{Python Code}{10.{1}}{}}{213}%
+\contentsline {pymass}{{Python Code}{10.{2}}{}}{214}%
+\contentsline {pymass}{{Python Code}{10.{3}}{}}{215}%
+\contentsline {juliamass}{{Julia Code}{10.{1}}{}}{218}%
+\contentsline {juliamass}{{Julia Code}{10.{2}}{}}{219}%
+\contentsline {juliamass}{{Julia Code}{10.{3}}{}}{219}%
+\contentsline {OpenModelicamass}{{OpenModelica Code}{10.{1}}{}}{222}%
+\contentsline {OpenModelicamass}{{OpenModelica Code}{10.{2}}{}}{223}%
+\contentsline {OpenModelicamass}{{OpenModelica Code}{10.{3}}{}}{223}%
+\contentsline {ardmass}{{Arduino Code}{11.{1}}{}}{237}%
+\contentsline {codemass}{{Scilab Code}{11.{1}}{}}{239}%
+\contentsline {codemass}{{Scilab Code}{11.{2}}{}}{239}%
+\contentsline {codemass}{{Scilab Code}{11.{3}}{}}{239}%
+\contentsline {codemass}{{Scilab Code}{11.{4}}{}}{240}%
+\contentsline {pymass}{{Python Code}{11.{1}}{}}{240}%
+\contentsline {pymass}{{Python Code}{11.{2}}{}}{240}%
+\contentsline {pymass}{{Python Code}{11.{3}}{}}{241}%
+\contentsline {juliamass}{{Julia Code}{11.{1}}{}}{241}%
+\contentsline {juliamass}{{Julia Code}{11.{2}}{}}{241}%
+\contentsline {juliamass}{{Julia Code}{11.{3}}{}}{242}%
+\contentsline {OpenModelicamass}{{OpenModelica Code}{11.{1}}{}}{242}%
+\contentsline {OpenModelicamass}{{OpenModelica Code}{11.{2}}{}}{242}%
+\contentsline {OpenModelicamass}{{OpenModelica Code}{11.{3}}{}}{243}%
diff --git a/floss-arduino.toc b/floss-arduino.toc
index 7308a7f..e27d996 100644
--- a/floss-arduino.toc
+++ b/floss-arduino.toc
@@ -54,7 +54,7 @@
 \contentsline {subsection}{\numberline {3.6.1}Downloading and installing on Windows}{56}%
 \contentsline {subsection}{\numberline {3.6.2}Downloading and installing on GNU/Linux Ubuntu}{57}%
 \contentsline {subsection}{\numberline {3.6.3}Simulating models in OpenModelica}{57}%
-\contentsline {subsection}{\numberline {3.6.4}OpenModelica Arduino toolbox}{63}%
+\contentsline {subsection}{\numberline {3.6.4}OpenModelica-Arduino toolbox}{63}%
 \contentsline {subsection}{\numberline {3.6.5}Firmware}{64}%
 \contentsline {chapter}{\numberline {4}Interfacing a Light Emitting Diode}{67}%
 \contentsline {section}{\numberline {4.1}Preliminaries}{67}%
@@ -181,33 +181,40 @@
 \contentsline {section}{\numberline {10.1}Preliminaries}{197}%
 \contentsline {section}{\numberline {10.2}Controlling the DC motor from Arduino}{199}%
 \contentsline {subsection}{\numberline {10.2.1}Controlling the DC motor}{199}%
+\contentsline {paragraph}{Note:}{199}%
 \contentsline {subsection}{\numberline {10.2.2}Arduino Code}{201}%
-\contentsline {section}{\numberline {10.3}Controlling the DC motor from Scilab}{202}%
-\contentsline {subsection}{\numberline {10.3.1}Initialization}{202}%
-\contentsline {subsection}{\numberline {10.3.2}Rotation for a specified time}{203}%
-\contentsline {subsection}{\numberline {10.3.3}Using the capabilities of Scilab}{204}%
-\contentsline {subsection}{\numberline {10.3.4}Scilab Code}{205}%
-\contentsline {section}{\numberline {10.4}Controlling the DC Motor from Xcos}{206}%
-\contentsline {section}{\numberline {10.5}Controlling the DC Motor from Python}{209}%
-\contentsline {subsection}{\numberline {10.5.1}Controlling the DC Motor}{209}%
-\contentsline {subsection}{\numberline {10.5.2}Python Code}{211}%
-\contentsline {section}{\numberline {10.6}Controlling the DC Motor from Julia}{214}%
-\contentsline {subsection}{\numberline {10.6.1}Controlling the DC Motor}{214}%
-\contentsline {subsection}{\numberline {10.6.2}Julia Code}{214}%
-\contentsline {section}{\numberline {10.7}Controlling the DC Motor from OpenModelica}{215}%
-\contentsline {subsection}{\numberline {10.7.1}Controlling the DC Motor}{215}%
-\contentsline {subsection}{\numberline {10.7.2}OpenModelica Code}{216}%
-\contentsline {chapter}{\numberline {11}Implementation of Modbus Protocol}{219}%
-\contentsline {section}{\numberline {11.1}Preliminaries}{219}%
-\contentsline {section}{\numberline {11.2}Objective}{224}%
-\contentsline {section}{\numberline {11.3}Energy Meter set up for Modbus protocol with Arduino Uno}{224}%
-\contentsline {section}{\numberline {11.4}Software}{225}%
-\contentsline {section}{\numberline {11.5}Output}{226}%
-\contentsline {section}{\numberline {11.6}Reading Parameters from Xcos}{228}%
-\contentsline {section}{\numberline {11.7}Code}{231}%
-\contentsline {subsection}{\numberline {11.7.1}Arduino Code}{231}%
-\contentsline {subsection}{\numberline {11.7.2}Scilab Code}{233}%
-\contentsline {subsection}{\numberline {11.7.3}Python Code}{234}%
-\contentsline {subsection}{\numberline {11.7.4}Julia Code}{235}%
-\contentsline {subsection}{\numberline {11.7.5}OpenModelica Code}{236}%
-\contentsline {chapter}{\numberline {References}}{239}%
+\contentsline {section}{\numberline {10.3}Controlling the DC motor from Scilab}{203}%
+\contentsline {subsection}{\numberline {10.3.1}Controlling the DC motor}{203}%
+\contentsline {paragraph}{Note:}{203}%
+\contentsline {paragraph}{Note:}{205}%
+\contentsline {subsection}{\numberline {10.3.2}Scilab Code}{206}%
+\contentsline {section}{\numberline {10.4}Controlling the DC Motor from Xcos}{207}%
+\contentsline {section}{\numberline {10.5}Controlling the DC Motor from Python}{210}%
+\contentsline {subsection}{\numberline {10.5.1}Controlling the DC Motor}{210}%
+\contentsline {paragraph}{Note:}{211}%
+\contentsline {paragraph}{Note:}{212}%
+\contentsline {subsection}{\numberline {10.5.2}Python Code}{213}%
+\contentsline {section}{\numberline {10.6}Controlling the DC Motor from Julia}{216}%
+\contentsline {subsection}{\numberline {10.6.1}Controlling the DC Motor}{216}%
+\contentsline {paragraph}{Note:}{216}%
+\contentsline {paragraph}{Note:}{218}%
+\contentsline {subsection}{\numberline {10.6.2}Julia Code}{218}%
+\contentsline {section}{\numberline {10.7}Controlling the DC Motor from OpenModelica}{219}%
+\contentsline {subsection}{\numberline {10.7.1}Controlling the DC Motor}{219}%
+\contentsline {paragraph}{Note:}{220}%
+\contentsline {paragraph}{Note:}{221}%
+\contentsline {subsection}{\numberline {10.7.2}OpenModelica Code}{222}%
+\contentsline {chapter}{\numberline {11}Implementation of Modbus Protocol}{225}%
+\contentsline {section}{\numberline {11.1}Preliminaries}{225}%
+\contentsline {section}{\numberline {11.2}Objective}{230}%
+\contentsline {section}{\numberline {11.3}Energy Meter set up for Modbus protocol with Arduino Uno}{230}%
+\contentsline {section}{\numberline {11.4}Software}{231}%
+\contentsline {section}{\numberline {11.5}Output}{232}%
+\contentsline {section}{\numberline {11.6}Reading Parameters from Xcos}{234}%
+\contentsline {section}{\numberline {11.7}Code}{237}%
+\contentsline {subsection}{\numberline {11.7.1}Arduino Code}{237}%
+\contentsline {subsection}{\numberline {11.7.2}Scilab Code}{239}%
+\contentsline {subsection}{\numberline {11.7.3}Python Code}{240}%
+\contentsline {subsection}{\numberline {11.7.4}Julia Code}{241}%
+\contentsline {subsection}{\numberline {11.7.5}OpenModelica Code}{242}%
+\contentsline {chapter}{\numberline {References}}{245}%
diff --git a/indent.log b/indent.log
deleted file mode 100644
index 8d6de3d..0000000
--- a/indent.log
+++ /dev/null
@@ -1,25 +0,0 @@
-INFO: latexindent version 3.7.1, 2019-09-07, a script to indent .tex files
-      latexindent lives here: /usr/share/texlive/texmf-dist/scripts/latexindent/
-      Tue May  4 06:51:32 2021
-      Filename: /home/fossee/Desktop/floss-scilab-arduino/user-code/ldr/__latexindent_temp.tex
-INFO: Processing switches:
-      -y|--yaml: YAML settings specified via command line
-      -c|--cruft: cruft directory
-INFO: Directory for backup files and /home/fossee/Desktop/floss-scilab-arduino/indent.log: /home/fossee/Desktop/floss-scilab-arduino/
-INFO: YAML settings read: defaultSettings.yaml
-      Reading defaultSettings.yaml from /usr/share/texlive/texmf-dist/scripts/latexindent/defaultSettings.yaml
-INFO: YAML settings read: indentconfig.yaml or .indentconfig.yaml
-      Home directory is /home/fossee (didn't find either indentconfig.yaml or .indentconfig.yaml)
-      To specify user settings you would put indentconfig.yaml here: /home/fossee/indentconfig.yaml
-      Alternatively, you can use the hidden file .indentconfig.yaml as: /home/fossee/.indentconfig.yaml
-INFO: YAML settings read: -y switch
-      Updating masterSettings with defaultIndent:   
-INFO: Phase 1: searching for objects
-INFO: Phase 2: finding surrounding indentation
-INFO: Phase 3: indenting objects
-INFO: Phase 4: final indentation check
-INFO: Output routine:
-      Not outputting to file; see -w and -o switches for more options.
-      --------------
-INFO: Please direct all communication/issues to:
-      https://github.com/cmhughes/latexindent.pl
diff --git a/user-code/dcmotor/dcmotor.tex b/user-code/dcmotor/dcmotor.tex
index f305d8e..dbf7abb 100644
--- a/user-code/dcmotor/dcmotor.tex
+++ b/user-code/dcmotor/dcmotor.tex
@@ -4,40 +4,46 @@
 \newcommand{\LocDCMfig}{\Origin/user-code/dcmotor/figures}

 \newcommand{\LocDCMscicode}{\Origin/user-code/dcmotor/scilab}

 \newcommand{\LocDCMscibrief}[1]{{\tt \seqsplit{

-    Origin/user-code/dcmotor/scilab/#1}}, 

-see \fnrefp{fn:file-loc}}

+        Origin/user-code/dcmotor/scilab/#1}},

+  see \fnrefp{fn:file-loc}}

 \newcommand{\LocDCMardcode}{\Origin/user-code/dcmotor/arduino}

 \newcommand{\LocDCMardbrief}[1]{{\tt \seqsplit{

-    Origin/user-code/dcmotor/arduino/#1}}, 

-see \fnrefp{fn:file-loc}}

+        Origin/user-code/dcmotor/arduino/#1}},

+  see \fnrefp{fn:file-loc}}

 

 %%%%%%%%%%%%%python starts

 \newcommand{\LocDCMpycode}{\Origin/user-code/dcmotor/python}

 \newcommand{\LocDCMpybrief}[1]{{\tt \seqsplit{

-    Origin/user-code/dcmotor/python/#1}}, 

-see \fnrefp{fn:file-loc}}

+        Origin/user-code/dcmotor/python/#1}},

+  see \fnrefp{fn:file-loc}}

 %%%%%%%%%%%%%python ends

 

 %%%%%%%%%%%%%julia starts

 \newcommand{\LocDCMjuliacode}{\Origin/user-code/dcmotor/julia}

 \newcommand{\LocDCMjuliabrief}[1]{{\tt \seqsplit{

-    Origin/user-code/dcmotor/julia/#1}}, 

-see \fnrefp{fn:file-loc}}

+        Origin/user-code/dcmotor/julia/#1}},

+  see \fnrefp{fn:file-loc}}

 %%%%%%%%%%%%%julia ends

 

 %%%%%%OpenModelica Starts

 \newcommand{\LocDCMOpenModelicacode}{\Origin/user-code/dcmotor/OpenModelica}  %added for OpenModelica

 \newcommand{\LocDCMOpenModelicabrief}[1]{{\tt \seqsplit{%

-    Origin/user-code/led/OpenModelica/#1}}, see \fnrefp{fn:file-loc}} % added for OpenModelica

+        Origin/user-code/led/OpenModelica/#1}}, see \fnrefp{fn:file-loc}} % added for OpenModelica

 

 %%%%%OpenModelcia Ends

 

-Motors are widely used in commercial applications. DC motor converts

-electric power obtained from direct current to the mechanical

-motion. This chapter describes an experiment to control DC motor with

-\arduino\ board. We will observe the direction of motion of DC motor

-being changed using the microcontroller on \arduino\ board. Control

-instruction will be sent to \arduino\ using Scilab scripts, Arduino IDE and Scilab Xcos.

+Motors are widely used in commercial applications. 

+DC motor converts electric power obtained from direct current to 

+mechanical motion. This chapter describes the experiments to 

+control DC motor with \arduino\ board. We will observe the 

+direction of motion of the DC motor being changed 

+using the microcontroller on \arduino\ board. 

+Control instruction will be sent to \arduino\ using Arduino IDE, 

+Scilab scripts, Scilab Xcos, Python, Julia, and OpenModelica. 

+The experiments provided in this chapter don't require the shield. 

+Therefore, the readers must remove the shield from the \arduino\ before 

+moving further in this chapter. Before removing the shield, 

+the readers are advised to detach \arduino\ from the computer. 

 

 \section{Preliminaries}

 In order to change its direction, the sign of the voltage applied to

@@ -58,10 +64,10 @@ the diagram of a typical breakout board containing IC L293D, which will
 be used in this book. \par

 

 \begin{figure}

-\centering

-\includegraphics[width=\lgfig]{\LocDCMfig/dcmotor_board.png}

-\caption{L293D motor driver board}

-\label{fig:motordriverboard}

+  \centering

+  \includegraphics[width=\lgfig]{\LocDCMfig/dcmotor_board.png}

+  \caption{L293D motor driver board}

+  \label{fig:motordriverboard}

 \end{figure}

 

 Input from \arduino\ to H-bridge IC is in \index{pulse width

@@ -77,20 +83,22 @@ time. For example, if both ''switch-on'' time and ''switch-off'' time
 are equal, average voltage on PWM pin will be 2.5V. To enable fast

 switching of digital pin, a special hardware is provided in

 microcontrollers.  PWM is considered as an important resource of

-the microcontroller system. \arduino\ board has 6 PWM pins for each of

-which, the input can come from 8 bits.  Thus we can generate 256

-different analog values in between 0-5V with these pins.

+the microcontroller system. \arduino\ board has 6 PWM pins (3, 5, 6, 9, 10, 11) \cite{arduino-pwm}. 

+On an original \arduino\ board, these pins are marked with a tilde sign next to the pin number, 

+as shown in Fig. For each of these pins, the input can come from 8 bits.

+Thus we can generate $2^8 = 256$ different analog values (from 0 to 255) 

+in between 0-5V with these pins.

 

 We now carry out the following connections:

 \begin{enumerate}

-\item Connect input of L293D (M1\_IN) pins to two of the PWM pins

-  available on \arduino.  We have used pins 9 and 10 of the \arduino\

-  board. 

-\item Connect the output of the L293D (M1\_OUT) pins directly to the 2

-  wires of the DC motor.  As the direction is changed during the

-  operation, the polarity of the connection does not matter.

-\item Connect supply (Vcc) and ground (Gnd) pins of L293D to 5V and

-  Gnd pins of the \arduino\ board, respectively.

+  \item Connect input of L293D (M1\_IN) pins to two of the PWM pins

+        available on \arduino.  We have used pins 9 and 10 of the \arduino\

+        board. 

+  \item Connect the output of the L293D (M1\_OUT) pins directly to the 2

+        wires of the DC motor.  As the direction is changed during the

+        operation, the polarity of the connection does not matter.

+  \item Connect supply (Vcc) and ground (Gnd) pins of L293D to 5V and

+        Gnd pins of the \arduino\ board, respectively.

 \end{enumerate}

 A schematic of these connections is given in

 \figref{fig:dcm-schematic}.  The actual connections can be seen in

@@ -98,16 +106,16 @@ A schematic of these connections is given in
 

 

 \begin{figure}

-\centering

-\includegraphics[width=\smfig]{\LocDCMfig/schematic.png}

-\caption{A schematic of DC motor connections}

-\label{fig:dcm-schematic}

+  \centering

+  \includegraphics[width=\smfig]{\LocDCMfig/schematic.png}

+  \caption{A schematic of DC motor connections}

+  \label{fig:dcm-schematic}

 \end{figure}

 \begin{figure}

-\centering

-\includegraphics[width=\lgfig]{\LocDCMfig/dc_motor_description.jpg}

-\caption{How to connect the DC motor to the \arduino\ board}

-\label{fig:dcmotorconn}

+  \centering

+  \includegraphics[width=\lgfig]{\LocDCMfig/dc_motor_description.jpg}

+  \caption{How to connect the DC motor to the \arduino\ board}

+  \label{fig:dcmotorconn}

 \end{figure}

 

 \section{Controlling the DC motor from Arduino}

@@ -115,59 +123,77 @@ A schematic of these connections is given in
 \label{sec:dcm-ard}

 In this section, we will describe some experiments that will help

 drive the DC motor from the Arduino IDE.  We will also give the

-necessary code.  We will present four experiments in this section.  We

-assume the shield to be attached to the \arduino\ board while doing

-these experiments.  The reader should go through the instructions

-given in \secref{sec:ard-start} before getting started.

+necessary code.  We will present three experiments in this section. 

+As mentioned earlier, the shield must be removed from 

+the \arduino\ and the \arduino\ needs to be connected to the computer 

+with a USB cable, as shown in \figref{arduino}. The reader should go through the

+instructions given in \secref{sec:ard-start} before getting started. 

+

+\paragraph{Note:} The readers are advised to affix a small 

+(very lightweight) piece of paper at the tip of the shaft of the DC motor. 

+That will help them observe the direction of rotation 

+of the DC motor while running the experiments. 

+

 \begin{enumerate}

-\item We now demonstrate how to drive the DC motor from the Arduino

-  IDE.  \ardref{ard:dcmotor-clock} has the required code for this.  It

-  starts the serial port at a baud rate of 9600.  Pins 9 and 10 are

-  declared as output pins and hence values can be written on to them.

-  Next, we write PWM 100 on pin 9 and PWM 0 on pin 10.  Recall from

-  \figref{fig:dcmotorconn} that pins 9 and 10 are connected to the

-  input of the breakout board, which in turn makes the DC motor run at

-  an intermediate speed.  Recall from \secref{sec:led-pril} that a

-  high on pin 9 also makes the blue LED come on.  As a result, the

-  blue LED also lights up.

-

-  Some of the breakout boards may not have enough current driving

-  capability and hence tend to heat up.  To avoid these difficulties,

-  the DC motor is run at an intermediate value of PWM 100.

-

-  The line containing {\tt delay} makes the previous command execute

-  for 3 seconds.  As a result, the DC motor continues to rotate for 3

-  seconds.  After this, as we put a 0 in both pins 9 and 10, the motor

-  comes to a halt.  The blue LED is also turned off.

-

-\item It is easy to make the DC motor run in the reverse direction by

-  interchanging the values put on pins 9 and 10.  This is done in

-  \ardref{ard:dcmotor-both}.  In this program, we make the DC motor

-  run in one direction for 3 seconds and then make it rotate in the

-  reverse direction for 2 seconds.  The rotation in reverse direction

-  is achieved by putting 100 in pin 10.  This makes the green LED

-  light up, recall the discussion in \secref{sec:led-pril}.  After

-  that, we release the motor by writing 0 in both pins 9 and 10.  This

-  turns the green LED off.

-

-\item Next, we make the DC motor run in forward and reverse

-  directions, in a loop.  This is done through

-  \ardref{ard:dcmotor-loop}.  We first put PWM 100 in the motor for 3

-  seconds.  After that, make the motor stop for 2 seconds.  Finally,

-  make the motor rotate in the reverse direction by putting PWM -100

-  for two seconds.  Finally, we make the motor stop for one second.

-  The entire thing is put in a loop.

+  \item We now demonstrate how to drive the DC motor from the Arduino

+        IDE.  \ardref{ard:dcmotor-clock} has the required code for this.  It

+        starts the serial port at a baud rate of 115200.  Pins 9 and 10 are

+        declared as output pins and hence values can be written on to them. The following 

+        lines are used to declare these two pins as output pins: 

+        \lstinputlisting[firstline=3,lastline=4]

+        {\LocDCMardcode/dcmotor-clock/dcmotor-clock.ino}

+        Next, we write PWM 100 on pin 9 and PWM 0 on pin 10, as shown below:

+        \lstinputlisting[firstline=5,lastline=6]

+        {\LocDCMardcode/dcmotor-clock/dcmotor-clock.ino}

+        Recall from \figref{fig:dcmotorconn} that pins 9 and 10 are connected to the

+        input of the breakout board, which in turn makes the DC motor run at

+        an intermediate speed.  Some of the breakout boards may not have enough current driving

+        capability and hence tend to heat up.  To avoid these difficulties,

+        the DC motor is run at an intermediate value of PWM 100. Remember, we can 

+        increase this value upto 255. 

+        % As mentioned in \secref{sec:led-pril}, a high on pin 9 also makes the blue LED turn on. 

+        

+        The line containing {\tt delay} makes the previous command execute

+        for 3 seconds.  As a result, the DC motor continues to rotate for 3

+        seconds.  After this, we put a 0 in both pins 9 and 10, as shown below:

+        \lstinputlisting[firstline=8,lastline=9]

+        {\LocDCMardcode/dcmotor-clock/dcmotor-clock.ino}

+        With this, the motor comes to a halt.  

+        % The blue LED is also turned off.

+        

+  \item It is easy to make the DC motor run in the reverse direction by

+        interchanging the values put on pins 9 and 10.  This is done in

+        \ardref{ard:dcmotor-both}.  In this code, we make the DC motor

+        run in one direction for 3 seconds and then make it rotate in the

+        reverse direction for 2 seconds.  The rotation in reverse direction

+        is achieved by putting 100 in pin 10, as shown below:

+        \lstinputlisting[firstline=8,lastline=9]

+        {\LocDCMardcode/dcmotor-both/dcmotor-both.ino}

+        % This makes the green LED light up as well, recall the discussion in \secref{sec:led-pril}.  After

+        Next, we release the motor by writing 0 in both pins 9 and 10, as shown below:

+        \lstinputlisting[firstline=11,lastline=12]

+        {\LocDCMardcode/dcmotor-both/dcmotor-both.ino}

+        With this, the motor comes to a halt.  

+        % This turns the green LED off as well.

+        

+  \item Next, we make the DC motor run in forward and reverse

+        directions, in a loop.  This is done through

+        \ardref{ard:dcmotor-loop}.  We first write PWM 100 in pin 9 for 3

+        seconds.  After that, make the motor stop for 2 seconds.  Finally,

+        make the motor rotate in the reverse direction by writing PWM 100 in pin 10

+        for two seconds.  Finally, we make the motor stop for one second.

+        The entire thing is put in a {\tt for} loop which runs for 5 iterations. 

 \end{enumerate}

 

 \begin{exercise}

-Carry out the following exercise:

-\begin{enumerate}

-\item Try out some of the suggestions given above, \ie\ removing

-  certain numbers from the code

-\item See if the DC motor runs if you put 1 instead of 100 as the PWM

-  value.  Explain why it does not run.  Find out the smallest value at

-  which it will start running.

-\end{enumerate}

+  Carry out the following exercise:

+  \begin{enumerate}

+    \item Try out some of the suggestions given above, \ie\ removing

+          certain numbers from the code

+    \item See if the DC motor runs if you put 1 instead of 100 as the PWM

+          value.  Explain why it does not run.  Find out the smallest value at

+          which it will start running.

+  \end{enumerate}

 \end{exercise}

 

 \subsection{Arduino Code}

@@ -176,164 +202,259 @@ Carry out the following exercise:
 \addtocontents{ard}{\protect\addvspace{\codclr}}

 

 \begin{ardcode}

-\acaption{Rotating the DC motor}

-{Rotating the DC motor.  Available at

-  \LocDCMardbrief{dcmotor-clock/dcmotor-clock.ino}.}

-\label{ard:dcmotor-clock}

-\lstinputlisting{\LocDCMardcode/dcmotor-clock/dcmotor-clock.ino}

+  \acaption{Rotating the DC motor}

+  {Rotating the DC motor.  Available at

+    \LocDCMardbrief{dcmotor-clock/dcmotor-clock.ino}.}

+  \label{ard:dcmotor-clock}

+  \lstinputlisting{\LocDCMardcode/dcmotor-clock/dcmotor-clock.ino}

 \end{ardcode}

 

 \begin{ardcode}

-\acaption{Rotating the DC motor in both directions}{Rotating the DC

-  motor in both directions.  

-  Available at

-  \LocDCMardbrief{dcmotor-both/dcmotor-both.ino}.}

-\label{ard:dcmotor-both}

-\lstinputlisting{\LocDCMardcode/dcmotor-both/dcmotor-both.ino}

+  \acaption{Rotating the DC motor in both directions}{Rotating the DC

+    motor in both directions.  

+    Available at

+    \LocDCMardbrief{dcmotor-both/dcmotor-both.ino}.}

+  \label{ard:dcmotor-both}

+  \lstinputlisting{\LocDCMardcode/dcmotor-both/dcmotor-both.ino}

 \end{ardcode}

 

 \begin{ardcode}

-\acaption{Rotating the DC motor in both directions in a loop}{Rotating

-  the DC motor in both directions in a loop.

-  Available at

-  \LocDCMardbrief{dcmotor-loop/dcmotor-loop.ino}.}

-\label{ard:dcmotor-loop}

-\lstinputlisting{\LocDCMardcode/dcmotor-loop/dcmotor-loop.ino}

+  \acaption{Rotating the DC motor in both directions in a loop}{Rotating

+    the DC motor in both directions in a loop.

+    Available at

+    \LocDCMardbrief{dcmotor-loop/dcmotor-loop.ino}.}

+  \label{ard:dcmotor-loop}

+  \lstinputlisting{\LocDCMardcode/dcmotor-loop/dcmotor-loop.ino}

 \end{ardcode}

 

 

-

-

 \section{Controlling the DC motor from Scilab}

 \label{sec:dcm-sci}

-In this section, we will explain a few experiments to rotate the DC

-motor.  We will first initialize it and then rotate it clockwise and

-counterclockwise.  We will explain some of the other required

-commands, such as sleep.

-

-\subsection{Initialization}

-In all the experiments in this section, we need to initialize the DC

-motor first, using a \scilab\ command of the following type:

-

-\begin{lstlisting}[style=nonumbers]

-  cmd_dcmotor_setup(1,H-Bridge type,Motor number,PWM pin 1,PWM pin 2)

-\end{lstlisting}

-As mentioned earlier, number 1 in the above list refers to the

-\arduino\ board.  We now discuss how to choose values for the other

-parameters in this command.  As mentioned above, there are many

-H-bridge IC manufacturers.  The inbuilt function {\tt

-  cmd\_dcmotor\_setup} can work with most of the widely used ICs,

-through a suitable input parameter.  Users have to provide the type

-number of the breakout board they have.  Popular numbering convention

-for different types of DC motor breakout boards is given in

-\tabref{table:convention}.  For example, L293D is type 3.  Next, we

-have to provide the motor number we want to control.  In our case, it

-is number 1.  Finally we want to provide PWM pin numbers on \arduino.

-As mentioned earlier, we are using pins 10 and 11.  In

-\tabref{tab:dcmotor-init}, we list the choices that we have made.

-Inserting these parameter values in the above shown \scilab\ command,

-we get the following command \\

-\lstinputlisting[firstline=2,lastline=2]

-{\LocDCMscicode/dcmotor-clock.sce}

-which is line number 2 in \sciref{sci:dcmotor-clock}.  We have already

-seen 

-the first two lines of this code and hence will not explain here.  We

-will add more lines to this code as we go along.

-

-\begin{table}

-\centering

-\caption{A numbering convention used in the DC motor breakout board}

-\label{table:convention}

-\begin{tabular}{|c|c|}\hline

-DC Motor Type & Number \\ \hline

-MotorShield Rev3 & 1 \\

-PMODHB5/L298 & 2 \\

-L293D & 3 \\ \hline

-\end{tabular}

-\end{table}

-\begin{table}

-\centering

-\caption{Parameters for DC motor initialization}

-\label{tab:dcmotor-init}

-\begin{tabular}{|l|c|} \hline

-Parameter & Value \\ \hline

-H-Bridge type & 3 \\ 

-Motor number & 1 \\

-PWM 1 pin & 9 \\

-PWM 2 pin & 10 \\ \hline

-\end{tabular}

-\end{table}

-

-\subsection{Rotation for a specified time}

-\label{sec:dc-both}

-We will now explain how to run the DC motor.  We have to provide motor

-number and the PWM value.  The \scilab\ command is of the form,

-\begin{lstlisting}[style=nonumbers]

-  cmd_dcmotor_run(1,Motor number,(sign)(PWM value))

-\end{lstlisting}

-Motor number is 1, as mentioned earlier.  Considering that the input

-to a PWM pin comes from two 8 digital pins, we can provide values

-between $-255$ and +255. Positive values correspond to clockwise

-rotation while negative values correspond to anti-clockwise rotation.

-Based on the PWM value and polarity, corresponding analog voltage is

-generated.  We put a PWM value of 100 to make the DC motor to

-run at an intermediate speed.  Assigning these values, we get the

-following command:

-\lstinputlisting[firstline=3,lastline=3]{\LocDCMscicode/dcmotor-clock.sce}

-This is line number 3 in \sciref{sci:dcmotor-clock}.  This command

-does not say for how long the motor should run.  This is taken care of

-by the {\tt sleep} statement.  The units of sleep are milliseconds.

-For example, line number 4 of \sciref{sci:dcmotor-clock}, given next,

-says that \scilab\ should go to sleep for three seconds.

-\lstinputlisting[firstline=4,lastline=4]{\LocDCMscicode/dcmotor-clock.sce}

-

-Line number 5 of \sciref{sci:dcmotor-clock}, shown below, is mandatory

-for every program.

-\lstinputlisting[firstline=5,lastline=5]{\LocDCMscicode/dcmotor-clock.sce}

-It releases the DC motor.  The PWM functionality on the \arduino\ pins

-is ceased using this command.  This has the motor number as an input

-parameter.

-

-If the sleep command discussed above were not present, the DC motor

-will not even run: soon after putting the value 100, the DC motor

-would be released, leaving no time in between.  If on the other hand,

-the DC motor is not released (\ie\ line number 6 being absent), the DC

-motor will go on rotating.  Line number 6 of \sciref{sci:dcmotor-clock}

-closes the serial port.

-

-We encourage you to run the above code without either line numbers 4,

-5 or 6 or all combinations.  Go ahead and do it - you will not break

-anything.  At the most, you may have to unplug the USB cable and

-restart the whole thing from the beginning.

-

-\sciref{sci:dcmotor-clock} can easily be extended to make the DC motor

-run in both directions.  The modified code is available in

-\sciref{sci:dcmotor-both}.

+\subsection{Controlling the DC motor}

+In this section, we discuss how to carry out the experiments of the

+previous section from Scilab. We will list the same three experiments,

+in the same order.  As mentioned earlier, the shield must be removed from 

+the \arduino\ and the \arduino\ needs to be connected to the computer 

+with a USB cable, as shown in \figref{arduino}. The reader should go through the instructions given in

+\secref{sec:sci-start} before getting started. 

+

+\paragraph{Note:} The readers are advised to affix a small 

+(very lightweight) piece of paper at the tip of the shaft of the DC motor. 

+That will help them observe the direction of rotation 

+of the DC motor while running the experiments. 

 

-\begin{exercise}

-Carry out the following exercise:

 \begin{enumerate}

-\item Try out some of the suggestions given above, \ie\ removing

-  certain numbers from the code

-\item See if the DC motor runs if you put 1 instead of 100 as the PWM

-  value.  Explain why it does not run.  Find out the smallest value at

-  which it will start running.

+  \item In the first experiment, we will learn how to drive the DC motor

+        from Scilab. The code for this experiment is 

+        given in  \sciref{sci:dcmotor-clock}. As explained earlier in \secref{sec:light-sci}, 

+        we begin with serial port initialization. 

+        Next, the code has a command of the following form: 

+        \begin{lstlisting}[style=nonumbers]

+              cmd_dcmotor_setup(1, H-Bridge type, Motor number, PWM pin 1, PWM pin 2)

+        \end{lstlisting}

+        As mentioned earlier, this chapter makes use of an H-Bridge circuit which 

+        allows direction of the current passing through the DC motor to be changed.

+        We are using L293D as an H-Bridge circuit in this book. Thus, we will pass the value 3 for

+        H-Bridge type. The Scilab-Arduino toolbox, as explained in \secref{sec:sci-ard-toolbox}, 

+        supports three types of H-Bridge circuit. \tabref{table:convention}

+        provides the values to be passed for different H-Bridge circuits. 

+        Next argument in the command given above is Motor number. Here, we pass the value 1. 

+        Finally, we provide the PWM pins to which the DC motor is connected. As 

+        shown in \figref{fig:dcmotorconn}, pins 9 and 10 are connected to the

+        input of the breakout board. As a result, the command {\tt cmd\_dcmotor\_setup} becomes

+        \lstinputlisting[firstline=2,lastline=2]

+        {\LocDCMscicode/dcmotor-clock.sce}

+        

+        \begin{table}

+          \centering

+          \caption{Values in the \scilab\ command for different H-Bridge circuits}

+          \label{table:convention}

+          \begin{tabular}{llc}\hline

+            Type of H-Bridge circuit & Value \\ \hline

+            MotorShield Rev3         & 1                             \\ \hline 

+            PMODHB5/L298             & 2                             \\ \hline 

+            L293D                    & 3                             \\ \hline

+          \end{tabular}

+        \end{table}

+        

+        The next line of \sciref{sci:dcmotor-clock} is of the following form: 

+        \begin{lstlisting}[style=nonumbers]

+          cmd_dcmotor_run(1, Motor number, [sign] PWM value)

+        \end{lstlisting}

+        Here, we will pass the value 1 in Motor number.  As mentioned earlier, 

+        for each of the PWM pins on \arduino\ board, the input can come from 8 bits.

+        Thus, these pins can supply values between $- 255$ and $+ 255$. Positive values correspond to clockwise

+        rotation while negative values correspond to anti-clockwise rotation. Based on the PWM value and polarity, 

+        corresponding analog voltage is generated.  

+        We put a PWM value of 100 to make the DC motor run at an intermediate speed.  

+        As a result, the command {\tt cmd\_dcmotor\_run} becomes

+        \lstinputlisting[firstline=3,lastline=3]

+        {\LocDCMscicode/dcmotor-clock.sce}

+        

+        The above-mentioned command does not say for how long the motor should run.  This is taken care of

+        by the {\tt sleep} command, as given below:

+        \lstinputlisting[firstline=4,lastline=4]{\LocDCMscicode/dcmotor-clock.sce}

+        With this, the DC motor will run for 3000 milliseconds or 3 seconds. At last, 

+        we release the DC motor, as shown below:

+        \lstinputlisting[firstline=5,lastline=5]{\LocDCMscicode/dcmotor-clock.sce}

+        With the execution of this command, the PWM functionality on the \arduino\ pins

+        is ceased.  This has the motor number as an input

+        parameter. At last, we close the serial port. 

+        

+        

+        \paragraph{Note:} If the sleep command (at line 4 of \sciref{sci:dcmotor-clock}) 

+        were not present, the DC motor will not even run: soon after putting the value 100, 

+        the DC motor would be released, leaving no time in between.  On the other hand, if

+        the DC motor is not released (\ie\ line number 5 of \sciref{sci:dcmotor-clock} being commented), 

+        the DC motor will go on rotating. That's why, it may be inferred that 

+        line number 5 of \sciref{sci:dcmotor-clock} is mandatory

+        for every program. We encourage the readers to run  \sciref{sci:dcmotor-clock} by commenting

+        any one or two of the lines numbered 4, 5 or 6.  Go ahead and do it - you will not break

+        anything.  At the most, you may have to unplug the USB cable connected to \arduino\ and

+        restart the whole thing from the beginning.

+        

+  \item It is easy to make the DC motor run in the reverse direction by

+        changing the sign of PWM value being written.  This is done in

+        \sciref{sci:dcmotor-both}.  In this code, we make the DC motor

+        run in one direction for 3 seconds and then make it rotate in the

+        reverse direction for 2 seconds.  The rotation in reverse direction

+        is achieved by putting $- 100$ in the command {\tt cmd\_dcmotor\_run}, 

+        as shown below:

+        \lstinputlisting[firstline=5,lastline=5]

+        {\LocDCMscicode/dcmotor-both.sce}

+        % This makes the green LED light up as well, recall the discussion in \secref{sec:led-pril}.  After

+        After adding a {\tt sleep} of 2 seconds, we release the motor by issuing

+        the command {\tt cmd\_dcmotor\_release}, followed by closing the serial port:

+        \lstinputlisting[firstline=7,lastline=8]

+        {\LocDCMscicode/dcmotor-both.sce}

+        With this, the motor comes to a halt.  

+        % This turns the green LED off as well.

+        

+  \item Next, we make the DC motor run in forward and reverse

+        directions, in a loop.  This is done through

+        \sciref{sci:dcmotor-loop}.  We first write PWM $+100$ for 3

+        seconds.  After that, halt the motor for 2 seconds by writing zero PWM value.  

+        Next, make the motor rotate in the reverse direction by writing PWM $-100$ for two seconds.  

+        Next, we make the motor stop for one second. This procedure is put in a {\tt for} loop which runs for 4 iterations.

+        At last, we release the motor by issuing the command {\tt cmd\_dcmotor\_release}, followed by closing the serial port

+        

 \end{enumerate}

+

+% \subsection{Initialization}

+% In all the experiments in this section, we need to initialize the DC

+% motor first, using a \scilab\ command of the following type:

+

+% \begin{lstlisting}[style=nonumbers]

+%   cmd_dcmotor_setup(1,H-Bridge type,Motor number,PWM pin 1,PWM pin 2)

+% \end{lstlisting}

+% As mentioned earlier, number 1 in the above list refers to the

+% \arduino\ board.  We now discuss how to choose values for the other

+% parameters in this command.  As mentioned above, there are many

+% H-bridge IC manufacturers.  The inbuilt function {\tt

+%     cmd\_dcmotor\_setup} can work with most of the widely used ICs,

+% through a suitable input parameter.  Users have to provide the type

+% number of the breakout board they have.  Popular numbering convention

+% for different types of DC motor breakout boards is given in

+% \tabref{table:convention}.  For example, L293D is type 3.  Next, we

+% have to provide the motor number we want to control.  In our case, it

+% is number 1.  Finally we want to provide PWM pin numbers on \arduino.

+% As mentioned earlier, we are using pins 10 and 11.  In

+% \tabref{tab:dcmotor-init}, we list the choices that we have made.

+% Inserting these parameter values in the above shown \scilab\ command,

+% we get the following command \\

+% \lstinputlisting[firstline=2,lastline=2]

+% {\LocDCMscicode/dcmotor-clock.sce}

+% which is line number 2 in \sciref{sci:dcmotor-clock}.  We have already

+% seen 

+% the first two lines of this code and hence will not explain here.  We

+% will add more lines to this code as we go along.

+

+

+

+

+% % \begin{table}

+% %   \centering

+% %   \caption{Parameters for DC motor initialization}

+% %   \label{tab:dcmotor-init}

+% %   \begin{tabular}{|l|c|} \hline

+% %     Parameter     & Value \\ \hline

+% %     H-Bridge type & 3     \\ 

+% %     Motor number  & 1     \\

+% %     PWM 1 pin     & 9     \\

+% %     PWM 2 pin     & 10    \\ \hline

+% %   \end{tabular}

+% % \end{table}

+

+% \subsection{Rotation for a specified time}

+% \label{sec:dc-both}

+% We will now explain how to run the DC motor.  We have to provide motor

+% number and the PWM value.  The \scilab\ command is of the form,

+% \begin{lstlisting}[style=nonumbers]

+%   cmd_dcmotor_run(1,Motor number,(sign)(PWM value))

+% \end{lstlisting}

+% Motor number is 1, as mentioned earlier.  Considering that the input

+% to a PWM pin comes from two 8 digital pins, we can provide values

+% between $-255$ and +255. Positive values correspond to clockwise

+% rotation while negative values correspond to anti-clockwise rotation.

+% Based on the PWM value and polarity, corresponding analog voltage is

+% generated.  We put a PWM value of 100 to make the DC motor to

+% run at an intermediate speed.  Assigning these values, we get the

+% following command:

+% \lstinputlisting[firstline=3,lastline=3]{\LocDCMscicode/dcmotor-clock.sce}

+% This is line number 3 in \sciref{sci:dcmotor-clock}.  This command

+% does not say for how long the motor should run.  This is taken care of

+% by the {\tt sleep} statement.  The units of sleep are milliseconds.

+% For example, line number 4 of \sciref{sci:dcmotor-clock}, given next,

+% says that \scilab\ should go to sleep for three seconds.

+% \lstinputlisting[firstline=4,lastline=4]{\LocDCMscicode/dcmotor-clock.sce}

+

+% Line number 5 of \sciref{sci:dcmotor-clock}, shown below, is mandatory

+% for every program.

+% \lstinputlisting[firstline=5,lastline=5]{\LocDCMscicode/dcmotor-clock.sce}

+% It releases the DC motor.  The PWM functionality on the \arduino\ pins

+% is ceased using this command.  This has the motor number as an input

+% parameter.

+

+% If the sleep command discussed above were not present, the DC motor

+% will not even run: soon after putting the value 100, the DC motor

+% would be released, leaving no time in between.  If on the other hand,

+% the DC motor is not released (\ie\ line number 6 being absent), the DC

+% motor will go on rotating.  Line number 6 of \sciref{sci:dcmotor-clock}

+% closes the serial port.

+

+% We encourage you to run the above code without either line numbers 4,

+% 5 or 6 or all combinations.  Go ahead and do it - you will not break

+% anything.  At the most, you may have to unplug the USB cable and

+% restart the whole thing from the beginning.

+

+% \sciref{sci:dcmotor-clock} can easily be extended to make the DC motor

+% run in both directions.  The modified code is available in

+% \sciref{sci:dcmotor-both}.

+

+\begin{exercise}

+  Carry out the following exercise:

+  \begin{enumerate}

+    \item Try out some of the suggestions given above, \ie\ removing

+          certain numbers from the code. 

+    \item See if the DC motor runs if you put 1 instead of 100 as the PWM

+          value.  Explain why it does not run.  Find out the smallest value at

+          which it will start running.

+  \end{enumerate}

 \end{exercise}

 

-\subsection{Using the capabilities of \scilab}

-Given that Scilab has a powerful programming syntax, a lot of

-different experiments can be tried out.  We illustrate a few in this

-section.  We begin with a {\tt for loop}.

-

-In the previous section, we presented \sciref{sci:dcmotor-both}, where

-we made the motor run in both directions, five seconds in the

-clockwise direction and two seconds in reverse.  This code can be

-embedded in a loop and the motor be made to repeat a certain number of

-times.  This idea is implemented through \sciref{sci:dcmotor-loop}.

-Through the {\tt for loop} in between line numbers 3 and 8, we make

-the DC motor repeat four times the cycle containing one rotation in

-each direction. 

+% \subsection{Using the capabilities of \scilab}

+% Given that Scilab has a powerful programming syntax, a lot of

+% different experiments can be tried out.  We illustrate a few in this

+% section.  We begin with a {\tt for loop}.

+

+% In the previous section, we presented \sciref{sci:dcmotor-both}, where

+% we made the motor run in both directions, five seconds in the

+% clockwise direction and two seconds in reverse.  This code can be

+% embedded in a loop and the motor be made to repeat a certain number of

+% times.  This idea is implemented through \sciref{sci:dcmotor-loop}.

+% Through the {\tt for loop} in between line numbers 3 and 8, we make

+% the DC motor repeat four times the cycle containing one rotation in

+% each direction. 

 %  \figref{fig:dcmotorfc} explains the entire operation

 % through a flowchart.

 % \begin{figure}

@@ -343,196 +464,200 @@ each direction.
 % \label{fig:dcmotorfc}

 % \end{figure}

 

-It is not difficult to see how some of the other features of the

-\scilab\ programming language can be used along with this DC motor.

-For example, it is possible to read a temperature value and based on

-its value, start or stop the motor.  For real world applications, one

-has to provide extra current carrying capabilities through external

-hardware.  

+% It is not difficult to see how some of the other features of the

+% \scilab\ programming language can be used along with this DC motor.

+% For example, it is possible to read a temperature value and based on

+% its value, start or stop the motor.  For real world applications, one

+% has to provide extra current carrying capabilities through external

+% hardware.  

 

 \subsection{Scilab Code}

 \label{sec:dcmotor-scilab-code}

 \addtocontents{cod}{\protect\addvspace{\codclr}}

 

 \begin{scicode}

-\ccaption{Rotating the DC motor}

-{Rotating the DC motor.  Available at

-  \LocDCMscibrief{dcmotor-clock.sce}.}

-\label{sci:dcmotor-clock}

-\lstinputlisting{\LocDCMscicode/dcmotor-clock.sce}

+  \ccaption{Rotating the DC motor}

+  {Rotating the DC motor.  Available at

+    \LocDCMscibrief{dcmotor-clock.sce}.}

+  \label{sci:dcmotor-clock}

+  \lstinputlisting{\LocDCMscicode/dcmotor-clock.sce}

 \end{scicode}

 

 \begin{scicode}

-\ccaption{Rotating the DC motor in both directions}

-{Rotating DC motor in both directions.  Available at

-  \LocDCMscibrief{dcmotor-both.sce}.}

-\label{sci:dcmotor-both}

-\lstinputlisting{\LocDCMscicode/dcmotor-both.sce}

+  \ccaption{Rotating the DC motor in both directions}

+  {Rotating DC motor in both directions.  Available at

+    \LocDCMscibrief{dcmotor-both.sce}.}

+  \label{sci:dcmotor-both}

+  \lstinputlisting{\LocDCMscicode/dcmotor-both.sce}

 \end{scicode}

 

 \begin{scicode}

-\ccaption{Rotating the DC motor in both directions in a loop}{Rotating

-  the DC motor in both directions in a loop.

-  Available at

-  \LocDCMscibrief{dcmotor-loop.sce}.}

-\label{sci:dcmotor-loop}

-\lstinputlisting{\LocDCMscicode/dcmotor-loop.sce}

+  \ccaption{Rotating the DC motor in both directions in a loop}{Rotating

+    the DC motor in both directions in a loop.

+    Available at

+    \LocDCMscibrief{dcmotor-loop.sce}.}

+  \label{sci:dcmotor-loop}

+  \lstinputlisting{\LocDCMscicode/dcmotor-loop.sce}

 \end{scicode}

 

 \section{Controlling the DC Motor from Xcos}

-In this section, we will see how to drive the DC motor from Xcos.  For

-each experiment, we will give the location of the zcos file and the

+In this section, we will see how to drive the DC motor from Scilab Xcos. 

+We will carry out the same three experiments as in the previous

+sections. For each experiment, we will give the location of the zcos file and the

 parameters to set.  The reader should go through the instructions

-given in \secref{sec:xcos-start} before getting started.  If the

-rotation of the DC motor is blocked by any obstacle in any of the

-experiments given below, you may want to hold it in your hand and let

-it run unhindered.

+given in \secref{sec:xcos-start} before getting started.  

+

+

+% If the

+% rotation of the DC motor is blocked by any obstacle in any of the

+% experiments given below, you may want to hold it in your hand and let

+% it run unhindered.

 

 \begin{enumerate}

-\item First we will see a simple code that drives the DC motor for a

-  specified time.  When the file required for this experiment is

-  invoked, one gets the GUI as in \figref{fig:dcmotor-clock}.  In

-  the caption of this figure, one can see where to locate the file.

-

-  \begin{figure}

-    \centering

-    \includegraphics[width=\smfig]{\LocDCMfig/dcmotor-clock.png}

-    \caption[Control of DC motor for a specified time from Xcos]

-    {Control of DC motor for a specified time from Xcos.  This is what

-      one sees when \LocDCMscibrief{dcmotor-clock.zcos}, is

-      invoked.}

-    \label{fig:dcmotor-clock}

-  \end{figure}

-

-  We will next explain how to set the parameters for this simulation.

-  To set value on any block, one needs to right click and open the

-  {\tt Block Parameters} or double click.  The values for each block

-  is tabulated in \tabref{tab:dcmotor-clock}.  In case of {\tt

-    DCMOTOR\_SB}, enter 3 to indicate for L293D board.  After clicking

-  on OK, another box will pop up.  In that, enter the PWM pin numbers

-  as 9 and 10 and click OK.  

-All other parameters are to be left

-  unchanged.

-  \begin{table}

-    \centering

-    \caption{Xcos parameters to drive the DC motor for a specified time}

-    \label{tab:dcmotor-clock}

-    \begin{tabular}{llc} \hline

-      Name of the block & Parameter name & Value \\ \hline

-      ARDUINO\_SETUP & Identifier of Arduino Card & 1 \\

-      & Serial com port number & 2\portcmd \\ \hline

-      TIME\_SAMPLE & Duration of acquisition(s) & 10 \\

-      & Sampling period(s) & 0.1 \\ \hline

-      DCMOTOR\_SB & Type of Shield & 3 \\

-      & Arduino card number & 1 \\ 

-      & PWM pin numbers & 9 10 \\ 

-      & Motor number & 1 \\ \hline

-      STEP\_FUNCTION & Step time & 5 \\

-      & Initial Value & 100 \\

-      & Final Value & 0 \\ \hline

-    \end{tabular}

-  \end{table}

-

-% Can you find out for how long the DC motor will run when this program

-% is executed?  In which block do we provide this information?  The

-% answer is that the DC motor will stop only when we terminate the

-% program.  As in the previous experiments, we can terminate the Xcos

-% program by pressing the stop button.  The DC motor gets released when

-% the stop button is pressed.

-

-

-

-\item Next, we will describe the Xcos code that drives the DC motor in

-  both forward and reverse directions.  When the file required for

-  this experiment is invoked, one gets the GUI as in

-  \figref{fig:dcmotor-both}.  In the caption of this figure, one can

-  see where to locate the file.

-

-  \begin{figure}

-    \centering

-    \includegraphics[width=\smfig]{\LocDCMfig/dcmotor-both.png}

-    \caption[Xcos control of the DC motor in forward and reverse

-    directions]{Xcos control of the DC motor in forward and reverse

-      directions.  This is what one sees when

-        \LocDCMscibrief{dcmotor-both.zcos}, is invoked.}

-    \label{fig:dcmotor-both}

-  \end{figure}

-

-  We will next explain how to set the parameters for this simulation.

-  To set value on any block, one needs to right click and open the

-  {\tt Block Parameters} or double click.  The values for each block

-  is tabulated in \tabref{tab:dcmotor-both}.  All other parameters are

-  to be left unchanged.

-  \begin{table}

-    \centering

-    \caption{Xcos parameters to drive the DC motor in forward and

-      reverse directions}

-    \label{tab:dcmotor-both}

-    \begin{tabular}{llc} \hline

-      Name of the block & Parameter name & Value \\ \hline

-      ARDUINO\_SETUP & Identifier of Arduino Card & 1 \\

-      & Serial com port number & 2\portcmd \\ \hline

-      TIME\_SAMPLE & Duration of acquisition(s) & 10 \\

-      & Sampling period(s) & 0.1 \\ \hline

-      DCMOTOR\_SB & Type of Shield & 3 \\

-      & Arduino card number & 1 \\ 

-      & PWM pin numbers & 9 10 \\ 

-      & Motor number & 1 \\ \hline

-      STEP\_FUNCTION & Step time & 5 \\

-      & Initial Value & 100 \\

-      & final value & 0 \\ \hline

-      CLOCK\_c & Period & 1 \\

-      & Initialisation Time & 0.1 \\ \hline

-    \end{tabular}

-  \end{table}

-

-\item Next, we will describe the Xcos code that drives the DC motor in

-  a loop.  When the file required for

-  this experiment is invoked, one gets the GUI as in

-  \figref{fig:dcmotor-loop}.  In the caption of this figure, one can

-  see where to locate the file.

-

-  \begin{figure}

-    \centering

-    \includegraphics[width=\smfig]{\LocDCMfig/dcmotor-loop.png}

-    \caption[Xcos control of the DC motor in forward and reverse

-    directions]{Xcos control of the DC motor in forward and reverse

-      directions.  This is what one sees when

-        \LocDCMscibrief{dcmotor-loop.zcos}, is invoked.}

-    \label{fig:dcmotor-loop}

-  \end{figure}

-

-  We will next explain how to set the parameters for this simulation.

-  To set value on any block, one needs to right click and open the

-  {\tt Block Parameters} or double click.  The values for each block

-  is tabulated in \tabref{tab:dcmotor-loop}.  All other parameters are

-  to be left unchanged.

-  \begin{table}

-    \centering

-    \caption{Xcos parameters to drive the DC motor in a loop}

-    \label{tab:dcmotor-loop}

-    \begin{tabular}{llc} \hline

-      Name of the block & Parameter name & Value \\ \hline

-      ARDUINO\_SETUP & Identifier of Arduino Card & 1 \\

-      & Serial com port number & 2\portcmd \\ \hline

-      TIME\_SAMPLE & Duration of acquisition(s) & 10 \\

-      & Sampling period(s) & 0.1 \\ \hline

-      DCMOTOR\_SB & Type of Shield & 3 \\

-      & Arduino card number & 1 \\

-      & PWM pin numbers & 9 10 \\ 

-      & Motor number & 1 \\ \hline

-      STEP\_FUNCTION 1 & Step time & 3 \\

-      & Initial Value & 100 \\

-      & Final Value & 0 \\ \hline

-      STEP\_FUNCTION 2 & Step time & 5 \\

-      & Initial Value & 0 \\

-      & Final Value & 100 \\ \hline

-      STEP\_FUNCTION 3 & Step time & 7 \\

-      & Initial Value & 0 \\

-      & Final Value & 100 \\ \hline

-      BIGSOM\_f & Inputs ports signs/gain & [1;-1;1] \\ \hline

-    \end{tabular}

-  \end{table}

+  \item First we will see a simple code that drives the DC motor for a

+        specified time.  When the file required for this experiment is

+        invoked, one gets the GUI as in \figref{fig:dcmotor-clock}.  In

+        the caption of this figure, one can see where to locate the file.

+        

+        \begin{figure}

+          \centering

+          \includegraphics[width=\smfig]{\LocDCMfig/dcmotor-clock.png}

+          \caption[Control of DC motor for a specified time from Xcos]

+          {Control of DC motor for a specified time from Xcos.  This is what

+            one sees when \LocDCMscibrief{dcmotor-clock.zcos}, is

+            invoked.}

+          \label{fig:dcmotor-clock}

+        \end{figure}

+        

+        We will next explain how to set the parameters for this simulation.

+        To set value on any block, one needs to right click and open the

+          {\tt Block Parameters} or double click.  The values for each block

+        is tabulated in \tabref{tab:dcmotor-clock}.  In case of {\tt

+            DCMOTOR\_SB}, enter 3 to indicate for L293D board.  After clicking

+        on OK, another dialog box will pop up.  In that, enter the PWM pin numbers

+        as 9 and 10 and click OK.  

+        All other parameters are to be left

+        unchanged.

+        \begin{table}

+          \centering

+          \caption{Xcos parameters to drive the DC motor for a specified time}

+          \label{tab:dcmotor-clock}

+          \begin{tabular}{llc} \hline

+            Name of the block & Parameter name             & Value     \\ \hline

+            ARDUINO\_SETUP    & Identifier of Arduino Card & 1         \\

+                              & Serial com port number     & 2\portcmd \\ \hline

+            TIME\_SAMPLE      & Duration of acquisition(s) & 10        \\

+                              & Sampling period(s)         & 0.1       \\ \hline

+            DCMOTOR\_SB       & Type of Shield             & 3         \\

+                              & Arduino card number        & 1         \\ 

+                              & PWM pin numbers            & 9 10      \\ 

+                              & Motor number               & 1         \\ \hline

+            STEP\_FUNCTION    & Step time                  & 5         \\

+                              & Initial Value              & 100       \\

+                              & Final Value                & 0         \\ \hline

+          \end{tabular}

+        \end{table}

+        

+        % Can you find out for how long the DC motor will run when this program

+        % is executed?  In which block do we provide this information?  The

+        % answer is that the DC motor will stop only when we terminate the

+        % program.  As in the previous experiments, we can terminate the Xcos

+        % program by pressing the stop button.  The DC motor gets released when

+        % the stop button is pressed.

+        

+        

+        

+  \item Next, we will describe the Xcos code that drives the DC motor in

+        both forward and reverse directions.  When the file required for

+        this experiment is invoked, one gets the GUI as in

+        \figref{fig:dcmotor-both}.  In the caption of this figure, one can

+        see where to locate the file.

+        

+        \begin{figure}

+          \centering

+          \includegraphics[width=\smfig]{\LocDCMfig/dcmotor-both.png}

+          \caption[Xcos control of the DC motor in forward and reverse

+            directions]{Xcos control of the DC motor in forward and reverse

+            directions.  This is what one sees when

+            \LocDCMscibrief{dcmotor-both.zcos}, is invoked.}

+          \label{fig:dcmotor-both}

+        \end{figure}

+        

+        We will next explain how to set the parameters for this simulation.

+        To set value on any block, one needs to right click and open the

+          {\tt Block Parameters} or double click.  The values for each block

+        is tabulated in \tabref{tab:dcmotor-both}.  All other parameters are

+        to be left unchanged.

+        \begin{table}

+          \centering

+          \caption{Xcos parameters to drive the DC motor in forward and

+            reverse directions}

+          \label{tab:dcmotor-both}

+          \begin{tabular}{llc} \hline

+            Name of the block & Parameter name             & Value     \\ \hline

+            ARDUINO\_SETUP    & Identifier of Arduino Card & 1         \\

+                              & Serial com port number     & 2\portcmd \\ \hline

+            TIME\_SAMPLE      & Duration of acquisition(s) & 10        \\

+                              & Sampling period(s)         & 0.1       \\ \hline

+            DCMOTOR\_SB       & Type of Shield             & 3         \\

+                              & Arduino card number        & 1         \\ 

+                              & PWM pin numbers            & 9 10      \\ 

+                              & Motor number               & 1         \\ \hline

+            STEP\_FUNCTION    & Step time                  & 5         \\

+                              & Initial Value              & 100       \\

+                              & final value                & 0         \\ \hline

+            CLOCK\_c          & Period                     & 1         \\

+                              & Initialisation Time        & 0.1       \\ \hline

+          \end{tabular}

+        \end{table}

+        

+  \item Next, we will describe the Xcos code that drives the DC motor in

+        a loop.  When the file required for

+        this experiment is invoked, one gets the GUI as in

+        \figref{fig:dcmotor-loop}.  In the caption of this figure, one can

+        see where to locate the file.

+        

+        \begin{figure}

+          \centering

+          \includegraphics[width=\smfig]{\LocDCMfig/dcmotor-loop.png}

+          \caption[Xcos control of the DC motor in forward and reverse

+            directions]{Xcos control of the DC motor in forward and reverse

+            directions.  This is what one sees when

+            \LocDCMscibrief{dcmotor-loop.zcos}, is invoked.}

+          \label{fig:dcmotor-loop}

+        \end{figure}

+        

+        We will next explain how to set the parameters for this simulation.

+        To set value on any block, one needs to right click and open the

+          {\tt Block Parameters} or double click.  The values for each block

+        is tabulated in \tabref{tab:dcmotor-loop}.  All other parameters are

+        to be left unchanged.

+        \begin{table}

+          \centering

+          \caption{Xcos parameters to drive the DC motor in a loop}

+          \label{tab:dcmotor-loop}

+          \begin{tabular}{llc} \hline

+            Name of the block & Parameter name             & Value     \\ \hline

+            ARDUINO\_SETUP    & Identifier of Arduino Card & 1         \\

+                              & Serial com port number     & 2\portcmd \\ \hline

+            TIME\_SAMPLE      & Duration of acquisition(s) & 10        \\

+                              & Sampling period(s)         & 0.1       \\ \hline

+            DCMOTOR\_SB       & Type of Shield             & 3         \\

+                              & Arduino card number        & 1         \\

+                              & PWM pin numbers            & 9 10      \\ 

+                              & Motor number               & 1         \\ \hline

+            STEP\_FUNCTION 1  & Step time                  & 3         \\

+                              & Initial Value              & 100       \\

+                              & Final Value                & 0         \\ \hline

+            STEP\_FUNCTION 2  & Step time                  & 5         \\

+                              & Initial Value              & 0         \\

+                              & Final Value                & 100       \\ \hline

+            STEP\_FUNCTION 3  & Step time                  & 7         \\

+                              & Initial Value              & 0         \\

+                              & Final Value                & 100       \\ \hline

+            BIGSOM\_f         & Inputs ports signs/gain    & [1;-1;1]  \\ \hline

+          \end{tabular}

+        \end{table}

 \end{enumerate}

 

 

@@ -565,194 +690,416 @@ All other parameters are to be left
 % the program by pressing the right arrow key.  

 

 \begin{exercise} 

-Carry out the following exercise:

-\begin{enumerate}

-\item Keep reducing the PWM value and find out the minimum value

-  required to run the DC motor.  Is this value in agreement with what

-  we found in the previous section?

-\item Change the PWM value to $-100$ and check if the DC motor rotates

-  in the opposite direction.

-\item Find out the smallest PWM value required to make the motor run

-  in the opposite direction.  That is, find the least count for both

-  directions.

-\item Come up with a method to rotate the motor in two directions for

-  different time periods.

-\end{enumerate}

+  Carry out the following exercise:

+  \begin{enumerate}

+    \item Keep reducing the PWM value and find out the minimum value

+          required to run the DC motor.  Is this value in agreement with what

+          we found in the previous section?

+    \item Change the PWM value to $-100$ and check if the DC motor rotates

+          in the opposite direction.

+    \item Find out the smallest PWM value required to make the motor run

+          in the opposite direction.  That is, find the least count for both

+          directions.

+    \item Come up with a method to rotate the motor in two directions for

+          different time periods.

+  \end{enumerate}

 \end{exercise}

 

 \section{Controlling the DC Motor from Python}

 \subsection{Controlling the DC Motor}

-In this section, we will explain a few experiments to rotate the DC

-motor. We will first initialize it and then rotate it clockwise and

-counterclockwise. We will explain some of the other required commands,

-such as sleep.

+In this section, we discuss how to carry out the experiments of the

+previous section from Python.  We will list the same three experiments,

+in the same order. As mentioned earlier, the shield must be removed from 

+the \arduino\ and the \arduino\ needs to be connected to the computer 

+with a USB cable, as shown in \figref{arduino}. The reader should go through the instructions given in

+\secref{sec:python-start} before getting started.

+

+\paragraph{Note:} The readers are advised to affix a small 

+(very lightweight) piece of paper at the tip of the shaft of the DC motor. 

+That will help them observe the direction of rotation 

+of the DC motor while running the experiments. 

+

+\begin{enumerate}

+  \item In the first experiment, we will learn how to drive the DC motor

+        from Python. The code for this experiment is 

+        given in  \pyref{py:dcmotor-clock}. As explained earlier in \secref{sec:light-py}, we begin with 

+        importing necessary modules followed by setting up the serial port. 

+        Next, the code has a command of the following form: 

+        \begin{lstlisting}[style=nonumbers]

+              cmd_dcmotor_setup(1, H-Bridge type, Motor number, PWM pin 1, PWM pin 2)

+        \end{lstlisting}

+        As mentioned earlier, this chapter makes use of an H-Bridge circuit which 

+        allows direction of the current passing through the DC motor to be changed.

+        We are using L293D as an H-Bridge circuit in this book. Thus, we will pass the value 3 for

+        H-Bridge type. The Python-Arduino toolbox, as explained in \secref{sec:python-toolbox}, 

+        supports three types of H-Bridge circuit. \tabref{table:convention}

+        provides the values to be passed for different H-Bridge circuits. 

+        Next argument in the command given above is Motor number. Here, we pass the value 1. 

+        Finally, we provide the PWM pins to which the DC motor is connected. As 

+        shown in \figref{fig:dcmotorconn}, pins 9 and 10 are connected to the

+        input of the breakout board. As a result, the command {\tt cmd\_dcmotor\_setup} becomes

+        \lstinputlisting[firstline=27,lastline=27]

+        {\LocDCMpycode/dcmotor-clock.py}

+        

+        The next line of \pyref{py:dcmotor-clock} is of the following form: 

+        \begin{lstlisting}[style=nonumbers]

+          cmd_dcmotor_run(1, Motor number, [sign] PWM value)

+        \end{lstlisting}

+        Here, we will pass the value 1 in Motor number.  As mentioned earlier, 

+        for each of the PWM pins on \arduino\ board, the input can come from 8 bits.

+        Thus, these pins can supply values between $- 255$ and $+ 255$. Positive values correspond to clockwise

+        rotation while negative values correspond to anti-clockwise rotation. Based on the PWM value and polarity, 

+        corresponding analog voltage is generated.  

+        We put a PWM value of 100 to make the DC motor run at an intermediate speed.  

+        As a result, the command {\tt cmd\_dcmotor\_run} becomes

+        \lstinputlisting[firstline=28,lastline=28]

+        {\LocDCMpycode/dcmotor-clock.py}

+        

+        The above-mentioned command does not say for how long the motor should run.  This is taken care of

+        by the {\tt sleep} command, as given below:

+        \lstinputlisting[firstline=29,lastline=29]{\LocDCMpycode/dcmotor-clock.py}

+        With this, the DC motor will run for or 3 seconds. At last, 

+        we release the DC motor, as shown below:

+        \lstinputlisting[firstline=30,lastline=30]{\LocDCMpycode/dcmotor-clock.py}

+        With the execution of this command, the PWM functionality on the \arduino\ pins

+        is ceased.  This has the motor number as an input

+        parameter. At last, we close the serial port. 

+        

+        

+        \paragraph{Note:} If the sleep command (at line 29 of \pyref{py:dcmotor-clock}) 

+        were not present, the DC motor will not even run: soon after putting the value 100, 

+        the DC motor would be released, leaving no time in between.  On the other hand, if

+        the DC motor is not released (\ie\ line number 30 of \pyref{py:dcmotor-clock} being commented), 

+        the DC motor will go on rotating. That's why, it may be inferred that 

+        line number 30 of \pyref{py:dcmotor-clock} is mandatory

+        for every program. We encourage the readers to run  \pyref{sci:dcmotor-clock} by commenting

+        any one or two of the lines numbered 29 and 30.  Go ahead and do it - you will not break

+        anything.  At the most, you may have to unplug the USB cable connected to \arduino\ and

+        restart the whole thing from the beginning.

+        

+  \item It is easy to make the DC motor run in the reverse direction by

+        changing the sign of PWM value being written.  This is done in

+        \pyref{py:dcmotor-both}.  In this code, we make the DC motor

+        run in one direction for 3 seconds and then make it rotate in the

+        reverse direction for 2 seconds.  The rotation in reverse direction

+        is achieved by putting $- 100$ in the command {\tt cmd\_dcmotor\_run}, 

+        as shown below:

+        \lstinputlisting[firstline=28,lastline=28]

+        {\LocDCMpycode/dcmotor-both.py}

+        % This makes the green LED light up as well, recall the discussion in \secref{sec:led-pril}.  After

+        After adding a {\tt sleep} of 2 seconds, we release the motor by issuing

+        the command {\tt cmd\_dcmotor\_release}, followed by closing the serial port:

+        \lstinputlisting[firstline=30,lastline=30]

+        {\LocDCMpycode/dcmotor-both.py}

+        With this, the motor comes to a halt.  

+        % This turns the green LED off as well.

+        

+  \item Next, we make the DC motor run in forward and reverse

+        directions, in a loop.  This is done through

+        \pyref{py:dcmotor-loop}.  We first write PWM $+100$ for 3

+        seconds.  After that, halt the motor for 2 seconds by writing zero PWM value.  

+        Next, make the motor rotate in the reverse direction by writing PWM $-100$ for two seconds.  

+        Next, we make the motor stop for one second. This procedure is put in a {\tt for} loop which runs for 4 iterations.

+        At last, we release the motor by issuing the command {\tt cmd\_dcmotor\_release}, followed by closing the serial port

+        

+\end{enumerate}

 

-Initialization: In all the experiments in this section, we need to

-initialize the DC motor first, using a Python command of the following

-type:

-\begin{lstlisting}[style=nonumbers]

-  cmd_dcmotor_setup(1,H-Bridge type,Motor number,PWM pin 1,PWM pin 2)

-\end{lstlisting}

+% Initialization: In all the experiments in this section, we need to

+% initialize the DC motor first, using a Python command of the following

+% type:

+% \begin{lstlisting}[style=nonumbers]

+%   cmd_dcmotor_setup(1,H-Bridge type,Motor number,PWM pin 1,PWM pin 2)

+% \end{lstlisting}

 

-As mentioned earlier, number 1 in the above list refers to the Arduino Uno board.

-We now discuss how to choose values for the other parameters in this command. As

-mentioned above, Popular numbering convention for different types of DC motor breakout

-boards is given in Table 7.1. For example, L293D is type 3. Next, we have to provide

-the motor number we want to control. In our case, it is number 1. Finally we want

-to provide PWM pin numbers on Arduino Uno. As mentioned earlier, we are using

-pins 10 and 11. In Table 7.2, we list the choices that we have made. Inserting these

-parameter values in the above shown Python command, we get the following command

+% As mentioned earlier, number 1 in the above list refers to the Arduino Uno board.

+% We now discuss how to choose values for the other parameters in this command. As

+% mentioned above, Popular numbering convention for different types of DC motor breakout

+% boards is given in Table 7.1. For example, L293D is type 3. Next, we have to provide

+% the motor number we want to control. In our case, it is number 1. Finally we want

+% to provide PWM pin numbers on Arduino Uno. As mentioned earlier, we are using

+% pins 10 and 11. In Table 7.2, we list the choices that we have made. Inserting these

+% parameter values in the above shown Python command, we get the following command

 

-self.obj\_arduino.cmd\_dcmotor\_setup(1,3,1,self.pin1,self.pin2)

+% self.obj\_arduino.cmd\_dcmotor\_setup(1,3,1,self.pin1,self.pin2)

 

-To rotate the motor,we have to provide motor number

-and the PWM value. The Python command is of the form,

+% To rotate the motor,we have to provide motor number

+% and the PWM value. The Python command is of the form,

 

-cmd\_dcmotor\_run ( 1 , Motor number , ( sign ) (PWM value ) )

+% cmd\_dcmotor\_run ( 1 , Motor number , ( sign ) (PWM value ) )

 

-The PWM values to be given are as same as explained in Scilab code before.

+% The PWM values to be given are as same as explained in Scilab code before.

 

-To run the motor for specified amount of time,we will use sleep command

+% To run the motor for specified amount of time,we will use sleep command

 

-sleep(3) //sleep for 3 seconds

+% sleep(3) //sleep for 3 seconds

 

-To release the dc motor, we will use the following command

+% To release the dc motor, we will use the following command

 

-cmd\_dcmotor\_release(1,1) //Motor 1 is release

+% cmd\_dcmotor\_release(1,1) //Motor 1 is release

 

-To run motor in loop, for loop is used in Python code 7.3.

+% To run motor in loop, for loop is used in Python code 7.3.

 

 \subsection{Python Code}

 \label{sec:dcmotor-python-code}

 \addtocontents{pyd}{\protect\addvspace{\codclr}}

 

 \begin{pycode}

-\pcaption{Rotating the DC motor}

-{Rotating the DC motor.  Available at

-  \LocDCMpybrief{dcmotor-clock.py}.}

-\label{py:dcmotor-clock}

-\lstinputlisting{\LocDCMpycode/dcmotor-clock.py}

+  \pcaption{Rotating the DC motor}

+  {Rotating the DC motor.  Available at

+    \LocDCMpybrief{dcmotor-clock.py}.}

+  \label{py:dcmotor-clock}

+  \lstinputlisting{\LocDCMpycode/dcmotor-clock.py}

 \end{pycode}

 

 \begin{pycode}

-\pcaption{Rotating the DC motor in both directions}

-{Rotating DC motor in both directions.  Available at

-  \LocDCMpybrief{dcmotor-both.py}.}

-\label{py:dcmotor-both}

-\lstinputlisting{\LocDCMpycode/dcmotor-both.py}

+  \pcaption{Rotating the DC motor in both directions}

+  {Rotating DC motor in both directions.  Available at

+    \LocDCMpybrief{dcmotor-both.py}.}

+  \label{py:dcmotor-both}

+  \lstinputlisting{\LocDCMpycode/dcmotor-both.py}

 \end{pycode}

 

 \begin{pycode}

-\pcaption{Rotating the DC motor in both directions in a loop}{Rotating

-  the DC motor in both directions in a loop.

-  Available at

-  \LocDCMpybrief{dcmotor-loop.py}.}

-\label{py:dcmotor-loop}

-\lstinputlisting{\LocDCMpycode/dcmotor-loop.py}

+  \pcaption{Rotating the DC motor in both directions in a loop}{Rotating

+    the DC motor in both directions in a loop.

+    Available at

+    \LocDCMpybrief{dcmotor-loop.py}.}

+  \label{py:dcmotor-loop}

+  \lstinputlisting{\LocDCMpycode/dcmotor-loop.py}

 \end{pycode}

 

 \section{Controlling the DC Motor from Julia}

 \subsection{Controlling the DC Motor}

+In this section, we discuss how to carry out the experiments of the

+previous section from Julia.  We will list the same three experiments,

+in the same order. As mentioned earlier, the shield must be removed from 

+the \arduino\ and the \arduino\ needs to be connected to the computer 

+with a USB cable, as shown in \figref{arduino}. The reader should go through the instructions given in \secref{sec:julia-start} before getting started.

 

-In this section, we will explain a few experiments to rotate the DC

-motor. We will first initialize it and then rotate it clockwise and

-counterclockwise. We will explain some of the other required commands,

-such as sleep.

+\paragraph{Note:} The readers are advised to affix a small 

+(very lightweight) piece of paper at the tip of the shaft of the DC motor. 

+That will help them observe the direction of rotation 

+of the DC motor while running the experiments.

 

-Initialization: In all the experiments in this section, we need to

-initialize the DC motor first, using a Julia command of the following

-type:

-\begin{lstlisting}[style=nonumbers]

-  DCMotorSetup(1,H-Bridge type,Motor number,PWM pin 1,PWM pin 2)

-\end{lstlisting}

-

-

-We now discuss how to choose values for the other parameters in this

-command. As mentioned above, choose the H-bridge accordingly as

-explained previously. THis is the second parameter given to the

-DCMotorSetup function. Next, we have to provide the motor number we

-want to control. In our case, it is number 1. Finally we want to

-provide PWM pin numbers on Arduino Uno. As mentioned earlier, we are

-using pins 9 and 10. In Table 7.2, we list the choices that we have

-made. Inserting these parameter values in the above shown Julia

-function command, we get the following command

-

-DCMotorSetup(1,3,1,9,10)

-

-To rotate the motor,we have to provide motor number

-and the PWM value. The Julia command is of the form,

-

-DCMotorRun ( 1 , Motor number , ( sign ) (PWM value ) )

-

-The PWM values to be given are as same as explained in Scilab code before.

-

-To run the motor for specified amount of time,we will use the sleep command

-

-sleep(3) //sleep for 3 seconds

-

-To release the dc motor, we will use the following command

-

-DCMotorRelease(ser,1) //Motor 1 is release

+\begin{enumerate}

+  \item In the first experiment, we will learn how to drive the DC motor

+        from Julia. The code for this experiment is 

+        given in  \juliaref{julia:dcmotor-clock}. 

+        As explained earlier in \secref{sec:light-julia}, we begin with 

+        importing necessary modules followed by setting up the serial port. 

+        Next, the code has a command of the following form: 

+        \begin{lstlisting}[style=nonumbers]

+          DCMotorSetup(1, H-Bridge type, Motor number, PWM pin 1, PWM pin 2)

+        \end{lstlisting}

+        As mentioned earlier, this chapter makes use of an H-Bridge circuit which 

+        allows direction of the current passing through the DC motor to be changed.

+        We are using L293D as an H-Bridge circuit in this book. Thus, we will pass the value 3 for

+        H-Bridge type. The Julia-Arduino toolbox, as explained in \secref{sec:julia-toolbox}, 

+        supports three types of H-Bridge circuit. \tabref{table:convention}

+        provides the values to be passed for different H-Bridge circuits. 

+        Next argument in the command given above is Motor number. Here, we pass the value 1. 

+        Finally, we provide the PWM pins to which the DC motor is connected. As 

+        shown in \figref{fig:dcmotorconn}, pins 9 and 10 are connected to the

+        input of the breakout board. As a result, the command {\tt DCMotorSetup} becomes

+        \lstinputlisting[firstline=5,lastline=5]

+        {\LocDCMjuliacode/dcmotor-clock.jl}

+        

+        The next line of \juliaref{julia:dcmotor-clock} is of the following form: 

+        \begin{lstlisting}[style=nonumbers]

+          DCMotorRun(1, Motor number, [sign] PWM value)

+        \end{lstlisting}

+        Here, we will pass the value 1 in Motor number.  As mentioned earlier, 

+        for each of the PWM pins on \arduino\ board, the input can come from 8 bits.

+        Thus, these pins can supply values between $- 255$ and $+ 255$. Positive values correspond to clockwise

+        rotation while negative values correspond to anti-clockwise rotation. Based on the PWM value and polarity, 

+        corresponding analog voltage is generated.  

+        We put a PWM value of 100 to make the DC motor run at an intermediate speed.  

+        As a result, the command {\tt DCMotorRun} becomes

+        \lstinputlisting[firstline=6,lastline=6]

+        {\LocDCMjuliacode/dcmotor-clock.jl}

+        

+        The above-mentioned command does not say for how long the motor should run.  This is taken care of

+        by the {\tt sleep} command, as given below:

+        \lstinputlisting[firstline=7,lastline=7]{\LocDCMjuliacode/dcmotor-clock.jl}

+        With this, the DC motor will run for or 3 seconds. At last, 

+        we release the DC motor, as shown below:

+        \lstinputlisting[firstline=8,lastline=8]{\LocDCMjuliacode/dcmotor-clock.jl}

+        With the execution of this command, the PWM functionality on the \arduino\ pins

+        is ceased.  This has the motor number as an input

+        parameter. At last, we close the serial port. 

+        

+        \paragraph{Note:} If the sleep command (at line 7 of \juliaref{julia:dcmotor-clock}) 

+        were not present, the DC motor will not even run: soon after putting the value 100, 

+        the DC motor would be released, leaving no time in between.  On the other hand, if

+        the DC motor is not released (\ie\ line number 8 of \juliaref{julia:dcmotor-clock} being commented), 

+        the DC motor will go on rotating. That's why, it may be inferred that 

+        line number 8 of \juliaref{julia:dcmotor-clock} is mandatory

+        for every program. We encourage the readers to run  \juliaref{julia:dcmotor-clock} by commenting

+        any one or two of the lines numbered 7 and 8.  Go ahead and do it - you will not break

+        anything.  At the most, you may have to unplug the USB cable connected to \arduino\ and

+        restart the whole thing from the beginning.

+        

+  \item It is easy to make the DC motor run in the reverse direction by

+        changing the sign of PWM value being written.  This is done in

+        \juliaref{julia:dcmotor-both}.  In this code, we make the DC motor

+        run in one direction for 3 seconds and then make it rotate in the

+        reverse direction for 2 seconds.  The rotation in reverse direction

+        is achieved by putting $- 100$ in the command {\tt DCMotorRun}, 

+        as shown below:

+        \lstinputlisting[firstline=8,lastline=8]

+        {\LocDCMjuliacode/dcmotor-both.jl}

+        % This makes the green LED light up as well, recall the discussion in \secref{sec:led-pril}.  After

+        After adding a {\tt sleep} of 2 seconds, we release the motor by issuing

+        the command {\tt DCMotorRelease}, followed by closing the serial port:

+        \lstinputlisting[firstline=10,lastline=11]

+        {\LocDCMjuliacode/dcmotor-both.jl}

+        With this, the motor comes to a halt.  

+        % This turns the green LED off as well.

+        

+  \item Next, we make the DC motor run in forward and reverse

+        directions, in a loop.  This is done through

+        \juliaref{julia:dcmotor-loop}.  We first write PWM $+100$ for 3

+        seconds.  After that, halt the motor for 2 seconds by writing zero PWM value.  

+        Next, make the motor rotate in the reverse direction by writing PWM $-100$ for two seconds.  

+        Next, we make the motor stop for one second. This procedure is put in a {\tt for} loop which runs for 4 iterations.

+        At last, we release the motor by issuing the command {\tt DCMotorRelease}, followed by closing the serial port. 

+        

+\end{enumerate}

 

-To run motor in loop, for loop is used in Julia code 7.3.

 

 \subsection{Julia Code}

 \label{sec:dcmotor-julia-code}

 \addtocontents{juliad}{\protect\addvspace{\codclr}}

 

 \begin{juliacode}

-\jcaption{Rotating the DC motor}

-{Rotating the DC motor.  Available at

-  \LocDCMjuliabrief{dcmotor-clock.jl}.}

-\label{julia:dcmotor-clock}

-\lstinputlisting{\LocDCMjuliacode/dcmotor-clock.jl}

+  \jcaption{Rotating the DC motor}

+  {Rotating the DC motor.  Available at

+    \LocDCMjuliabrief{dcmotor-clock.jl}.}

+  \label{julia:dcmotor-clock}

+  \lstinputlisting{\LocDCMjuliacode/dcmotor-clock.jl}

 \end{juliacode}

 

 \begin{juliacode}

-\jcaption{Rotating the DC motor in both directions}

-{Rotating DC motor in both directions.  Available at

-  \LocDCMjuliabrief{dcmotor-both.jl}.}

-\label{julia:dcmotor-both}

-\lstinputlisting{\LocDCMjuliacode/dcmotor-both.jl}

+  \jcaption{Rotating the DC motor in both directions}

+  {Rotating DC motor in both directions.  Available at

+    \LocDCMjuliabrief{dcmotor-both.jl}.}

+  \label{julia:dcmotor-both}

+  \lstinputlisting{\LocDCMjuliacode/dcmotor-both.jl}

 \end{juliacode}

 

 \begin{juliacode}

-\jcaption{Rotating the DC motor in both directions in a loop}{Rotating

-  the DC motor in both directions in a loop.

-  Available at

-  \LocDCMjuliabrief{dcmotor-loop.jl}.}

-\label{julia:dcmotor-loop}

-\lstinputlisting{\LocDCMjuliacode/dcmotor-loop.jl}

+  \jcaption{Rotating the DC motor in both directions in a loop}{Rotating

+    the DC motor in both directions in a loop.

+    Available at

+    \LocDCMjuliabrief{dcmotor-loop.jl}.}

+  \label{julia:dcmotor-loop}

+  \lstinputlisting{\LocDCMjuliacode/dcmotor-loop.jl}

 \end{juliacode}

 

 

 \section{Controlling the DC Motor from OpenModelica}

 \subsection{Controlling the DC Motor}

-Initialization of DC Motor : In all the experiments in this section,

-we need to initialize the DC motor first, using a OpenModelica command

-of the following type:

-

-\begin{lstlisting}[style=nonumbers]

-  cmd_dcmotor_setup(1,H-Bridge type,Motor number,PWM pin 1,PWM pin 2)

-\end{lstlisting}

-cmd\_dcmotor\_setup(1,3,1,9,10)

-

-To rotate the motor,we have to provide motor number

-and the PWM value. The OpenModelica command is of the form,

+In this section, we discuss how to carry out the experiments of the

+previous section from OpenModelica.  We will list the same three experiments,

+in the same order.  As mentioned earlier, the shield must be removed from 

+the \arduino\ and the \arduino\ needs to be connected to the computer 

+with a USB cable, as shown in \figref{arduino}. The reader should go through the instructions given in

+\secref{sec:OpenModelica-start} before getting started.

 

-cmd\_dcmotor\_run ( 1 , Motor number , ( sign ) (PWM value ) )

 

-The PWM values to be given are as same as explained in Scilab code before.

 

-To run the motor for specified amount of time,we will use sleep command

+\paragraph{Note:} The readers are advised to affix a small 

+(very lightweight) piece of paper at the tip of the shaft of the DC motor. 

+That will help them observe the direction of rotation 

+of the DC motor while running the experiments.

 

-delay(2000) //sleep for 2 seconds

-

-To release the dc motor, we will use the following command

+\begin{enumerate}

+  \item In the first experiment, we will learn how to drive the DC motor

+        from OpenModelica. The code for this experiment is 

+        given in  \OpenModelicaref{OpenModelica:dcmotor-clock}. 

+        As explained earlier in \secref{sec:light-OpenModelica}, 

+        we begin with importing the two packages: Streams and SerialCommunication followed 

+        by setting up the serial port. Next, the code has a command of the following form: 

+        \begin{lstlisting}[style=nonumbers]

+          cmd_dcmotor_setup(1, H-Bridge type, Motor number, PWM pin 1, PWM pin 2)

+        \end{lstlisting}

+        As mentioned earlier, this chapter makes use of an H-Bridge circuit which 

+        allows direction of the current passing through the DC motor to be changed.

+        We are using L293D as an H-Bridge circuit in this book. Thus, we will pass the value 3 for

+        H-Bridge type. The OpenModelica-Arduino toolbox, as explained in 

+        \secref{sec:load-om-toolbox}, 

+        supports three types of H-Bridge circuit. \tabref{table:convention}

+        provides the values to be passed for different H-Bridge circuits. 

+        Next argument in the command given above is Motor number. Here, we pass the value 1. 

+        Finally, we provide the PWM pins to which the DC motor is connected. As 

+        shown in \figref{fig:dcmotorconn}, pins 9 and 10 are connected to the

+        input of the breakout board. As a result, the command {\tt cmd\_dcmotor\_setup} becomes

+        \lstinputlisting[firstline=15,lastline=15]

+        {\LocDCMOpenModelicacode/dcmotor-clock.mo}

+        

+        The next line of \OpenModelicaref{OpenModelica:dcmotor-clock} is of the following form: 

+        \begin{lstlisting}[style=nonumbers]

+          cmd_dcmotor_run(1, Motor number, [sign] PWM value)

+        \end{lstlisting}

+        Here, we will pass the value 1 in Motor number.  As mentioned earlier, 

+        for each of the PWM pins on \arduino\ board, the input can come from 8 bits.

+        Thus, these pins can supply values between $- 255$ and $+ 255$. Positive values correspond to clockwise

+        rotation while negative values correspond to anti-clockwise rotation. Based on the PWM value and polarity, 

+        corresponding analog voltage is generated.  

+        We put a PWM value of 100 to make the DC motor run at an intermediate speed.  

+        As a result, the command {\tt cmd\_dcmotor\_run} becomes

+        \lstinputlisting[firstline=16,lastline=16]

+        {\LocDCMOpenModelicacode/dcmotor-clock.mo}

+        

+        The above-mentioned command does not say for how long the motor should run.  This is taken care of

+        by the {\tt sleep} command, as given below:

+        \lstinputlisting[firstline=17,lastline=17]{\LocDCMOpenModelicacode/dcmotor-clock.mo}

+        With this, the DC motor will run for 3000 milliseconds or 3 seconds. At last, 

+        we release the DC motor, as shown below:

+        \lstinputlisting[firstline=18,lastline=18]{\LocDCMOpenModelicacode/dcmotor-clock.mo}

+        With the execution of this command, the PWM functionality on the \arduino\ pins

+        is ceased.  This has the motor number as an input

+        parameter. At last, we close the serial port. 

+        

+        \paragraph{Note:} If the sleep command (at line 17 of \OpenModelicaref{OpenModelica:dcmotor-clock}) 

+        were not present, the DC motor will not even run: soon after putting the value 100, 

+        the DC motor would be released, leaving no time in between.  On the other hand, if

+        the DC motor is not released (\ie\ line number 18 of \OpenModelicaref{OpenModelica:dcmotor-clock} being commented), 

+        the DC motor will go on rotating. That's why, it may be inferred that 

+        line number 18 of \OpenModelicaref{OpenModelica:dcmotor-clock} is mandatory

+        for every program. We encourage the readers to run  \OpenModelicaref{OpenModelica:dcmotor-clock} by commenting

+        any one or two of the lines numbered 17 and 18.  Go ahead and do it - you will not break

+        anything.  At the most, you may have to unplug the USB cable connected to \arduino\ and

+        restart the whole thing from the beginning.

+        

+  \item It is easy to make the DC motor run in the reverse direction by

+        changing the sign of PWM value being written.  This is done in

+        \OpenModelicaref{OpenModelica:dcmotor-both}.  In this code, we make the DC motor

+        run in one direction for 3 seconds and then make it rotate in the

+        reverse direction for 2 seconds.  The rotation in reverse direction

+        is achieved by putting $- 100$ in the command {\tt cmd\_dcmotor\_run}, 

+        as shown below:

+        \lstinputlisting[firstline=17,lastline=17]

+        {\LocDCMOpenModelicacode/dcmotor-both.mo}

+        % This makes the green LED light up as well, recall the discussion in \secref{sec:led-pril}.  After

+        After adding a {\tt sleep} of 2 seconds, we release the motor by issuing

+        the command {\tt cmd\_dcmotor\_release}, followed by closing the serial port:

+        \lstinputlisting[firstline=19,lastline=19]

+        {\LocDCMOpenModelicacode/dcmotor-both.mo}

+        With this, the motor comes to a halt.  

+        % This turns the green LED off as well.

+        

+  \item Next, we make the DC motor run in forward and reverse

+        directions, in a loop.  This is done through

+        \OpenModelicaref{OpenModelica:dcmotor-loop}.  We first write PWM $+100$ for 3

+        seconds.  After that, halt the motor for 2 seconds by writing zero PWM value.  

+        Next, make the motor rotate in the reverse direction by writing PWM $-100$ for two seconds.  

+        Next, we make the motor stop for one second. This procedure is put in a {\tt for} loop which runs for 4 iterations.

+        At last, we release the motor by issuing the command {\tt cmd\_dcmotor\_release}, followed by closing the serial port. 

+        

+\end{enumerate}

 

-cmd\_dcmotor\_release(ser,1) //Motor 1 is release

 

-To run motor in loop, for loop is used in OpenModelica code 7.3

 

 %%%%%%%OpenModelica description ends

 

@@ -822,30 +1169,35 @@ To run motor in loop, for loop is used in OpenModelica code 7.3
 

 \subsection{OpenModelica Code}

 \label{sec:dcmotor-OpenModelica-code}

+Unlike other code files, the code/ model for running experiments using OpenModelica are 

+available inside the OpenModelica-Arduino toolbox, as explained in \secref{sec:load-om-toolbox}.

+Please refer to \figref{om-examples-toolbox} to know how to locate the experiments. 

+

 \addtocontents{OpenModelicad}{\protect\addvspace{\codclr}}

 

 \begin{OpenModelicacode}

-\mcaption{Rotating the DC motor}

-{Rotating the DC motor.  Available at

-  \LocDCMOpenModelicabrief{dcmotor-clock.mo}.}

-\label{OpenModelica:dcmotor-clock}

-\lstinputlisting{\LocDCMOpenModelicacode/dcmotor-clock.mo}

+  \mcaption{Rotating the DC motor}

+  {Rotating the DC motor.  

+  Available at Arduino -> SerialCommunication -> Examples -> dcmotor 

+    -> dcmotor\_clock.}

+  \label{OpenModelica:dcmotor-clock}

+  \lstinputlisting{\LocDCMOpenModelicacode/dcmotor-clock.mo}

 \end{OpenModelicacode}

 

 \begin{OpenModelicacode}

-\mcaption{Rotating the DC motor in both directions}

-{Rotating DC motor in both directions.  Available at

-  \LocDCMOpenModelicabrief{dcmotor-both.mo}.}

-\label{OpenModelica:dcmotor-both}

-\lstinputlisting{\LocDCMOpenModelicacode/dcmotor-both.mo}

+  \mcaption{Rotating the DC motor in both directions}

+  {Rotating DC motor in both directions.  Available at Arduino -> SerialCommunication -> Examples -> dcmotor 

+    -> dcmotor\_both.}

+  \label{OpenModelica:dcmotor-both}

+  \lstinputlisting{\LocDCMOpenModelicacode/dcmotor-both.mo}

 \end{OpenModelicacode}

 

 \begin{OpenModelicacode}

-\mcaption{Rotating the DC motor in both directions in a loop}{Rotating

-  the DC motor in both directions in a loop.

-  Available at

-  \LocDCMOpenModelicabrief{dcmotor-loop.mo}.}

-\label{OpenModelica:dcmotor-loop}

-\lstinputlisting{\LocDCMOpenModelicacode/dcmotor-loop.mo}

+  \mcaption{Rotating the DC motor in both directions in a loop}{Rotating

+    the DC motor in both directions in a loop.

+    Available at Arduino -> SerialCommunication -> Examples -> dcmotor 

+    -> dcmotor\_loop.}

+  \label{OpenModelica:dcmotor-loop}

+  \lstinputlisting{\LocDCMOpenModelicacode/dcmotor-loop.mo}

 \end{OpenModelicacode}

 %%%%%%%%%%OpenModelica code ends

diff --git a/user-code/servo/servo.tex b/user-code/servo/servo.tex
index 97cdbb1..6a8d1a1 100644
--- a/user-code/servo/servo.tex
+++ b/user-code/servo/servo.tex
@@ -52,7 +52,7 @@ and printers.
 Typical servomotors have a maximum range of $180^\circ$, although some

 have different ranges\footnote{All the angles in a servomotor are

   absolute angles, with respect to a fixed reference point, which can

-  be taken as $0^\circ$.}

+  be taken as $0^\circ$.}.

 Servomotors typically have a position sensor,

 using which, rotate to the commanded angle.  The minimum angle to

 which a servomotor can be rotated is its least count, which varies

diff --git a/user-code/sw-env/sw-env.tex b/user-code/sw-env/sw-env.tex
index 68e74cc..13359c1 100644
--- a/user-code/sw-env/sw-env.tex
+++ b/user-code/sw-env/sw-env.tex
@@ -475,6 +475,7 @@ communicate with \arduino. This process is illustrated in
 \end{figure}

 

 \subsection{Scilab-Arduino toolbox}

+\label{sec:sci-ard-toolbox}

 Scilab, by default, does not have the capability to connect to

 Arduino. All such add-on functionalities are added to \scilab\ using

 toolboxes. Just like we have different installation binaries of

@@ -1578,7 +1579,7 @@ Simulation finished successfully". Had there been any error in simulating the mo
 we would not have received this message. 

 

 

-\subsection{OpenModelica Arduino toolbox}\label{sec:load-om-toolbox}

+\subsection{OpenModelica-Arduino toolbox}\label{sec:load-om-toolbox}

 OpenModelica, by default, does not have the capability to connect to Arduino. 

 All such add-on functionalities are added to OpenModelica using toolboxes.  

 The OpenModelica Arduino toolbox can be found inside {\tt Origin/tools/\\openmodelica/windows} or {\tt Origin/tools/openmodelica/linux} directory,