Chapters divided software-wise. Main file modified to produce a book with all software or any of the four software: Scilab, Python, Julia and OM, with Arduino IDE coming with every one of these four. Using hyperref, links established in the Table of Contents.

63 files changed, 15817 insertions, 4883 deletions

diff --git a/OM-floss-arduino.pdf b/OM-floss-arduino.pdf
new file mode 100644
index 0000000..3f061b6
--- /dev/null
+++ b/OM-floss-arduino.pdf
diff --git a/floss-arduino-works.tex b/floss-arduino-works.tex
new file mode 100644
index 0000000..21f8829
--- /dev/null
+++ b/floss-arduino-works.tex
@@ -0,0 +1,198 @@
+\documentclass[a4paper,11pt]{book}
+%\newcommand{\Origin}{/Users/kannan/FOSS/scilab-arduino}
+% \newcommand{\Origin}{D:/Latex_files/scilab-arduino}
+%\newcommand{\Origin}{/home/manas/Desktop/scilab-arduino}
+%\newcommand{\Origin}{E:/scilab-arduino/scilab-arduino}
+%\newcommand{\Home}{/Users/kannan/FOSS/scilab-arduino}
+% \newcommand{\Home}{D:/Latex_files/scilab-arduino}
+%\newcommand{\Origin}{/home/fossee/Desktop/scilab-arduino-final/scilab-arduino}
+%\newcommand{\Home}{/home/fossee/Desktop/scilab-arduino-final/scilab-arduino}
+
+\newcommand{\Home}
+{/Users/kannan/FOSS/scilab-arduino/floss-arduino-clone}
+\newcommand{\Origin}
+{/Users/kannan/FOSS/scilab-arduino/floss-arduino-clone}
+
+%\newcommand{\Home}{/home/fossee/Desktop/floss-scilab-arduino}
+%\newcommand{\Origin}{/home/fossee/Desktop/floss-scilab-arduino}
+
+
+
+%\newcommand{\Home}{E:/scilab-arduino/scilab-arduino}
+
+\newcommand{\bluecolor}[1]{\color{blue}#1\color{black}}
+\usepackage{color}
+\usepackage{layouts}
+\usepackage{cclicenses}
+\usepackage{morefloats}
+\usepackage{paralist}
+\usepackage{chngcntr}
+\usepackage{layouts}
+\usepackage{fancyhdr}
+\pagestyle{headings}
+\usepackage{amsmath,graphicx,makeidx}
+\usepackage{fancybox}
+\usepackage{cite}
+\usepackage{hyperref}
+%\usepackage{appendix}
+\counterwithout{footnote}{chapter}
+\usepackage{subfig}
+\usepackage{listings}
+\usepackage{varioref} % for \vref commands
+%\usepackage{hyperref}
+
+%\DeclareFontFamily{OT1}{cmtt}{\hyphenchar \font=-1}
+\usepackage[T1]{fontenc}
+\usepackage{beramono}
+\usepackage{seqsplit}
+
+\newcommand{\portcmd}{\small%
+, see \fnrefp{fn:port}}
+
+\newcommand{\redcolor}[1]{\color{red}#1\color{black}}
+\newcommand{\codclr}{10pt}
+\newcommand{\scilab}{Scilab}
+\newcommand{\arduino}{Arduino Uno}
+\newcommand{\ie}{\emph{i.e.},}
+
+\newcommand{\ourname}[1]{\\ [1.5mm] \noindent{\bf #1}}
+% Shroff book size
+%\textheight 7.75in
+\textheight 7.5in
+\textwidth 5.5in
+\evensidemargin 0.625in
+\oddsidemargin 0.625in
+
+
+\input{\Home/suppl/styles}
+\renewcommand\chaptermark[1]{\markboth{\bf {\thechapter. #1}}{}}
+\renewcommand\sectionmark[1]{\markright{\bf {\thesection. #1}}}
+\cfoot{}
+\fancyfoot{}
+
+\newcommand{\comment}[1]{\color{red}#1\color{black}}
+\newcommand{\eatcomment}[0]{\renewcommand{\reminder}[1]{}}
+
+
+\newcommand{\tnfig}{0.3\linewidth}
+\newcommand{\smfig}{0.45\linewidth}%0.42
+\newcommand{\smfigp}{0.49\linewidth}%0.42
+\newcommand{\lgfig}{0.65\linewidth}%0.65
+\newcommand{\hgfig}{0.9\linewidth}
+
+\renewcommand\bibname{References}
+
+\newcommand{\figref}[1]{Fig.~\ref{#1}}
+\newcommand{\figrefp}[1]{Fig.~\vref{#1}}
+\newcommand{\tabref}[1]{Table~\ref{#1}}
+\newcommand{\tabrefp}[1]{Table~\vref{#1}}
+\newcommand{\chapref}[1]{Chapter~\ref{#1}}
+\newcommand{\secref}[1]{Sec.~\ref{#1}}
+\newcommand{\sciref}[1]{Scilab~Code~\ref{#1}}
+\newcommand{\pyref}[1]{Python~Code~\ref{#1}} % added for python
+\newcommand{\juliaref}[1]{Julia~Code~\ref{#1}} % added for julia
+\newcommand{\OpenModelicaref}[1]{OpenModelica~Code~\ref{#1}} % added for OpenModelica
+\newcommand{\ardref}[1]{Arduino~Code~\ref{#1}}
+\newcommand{\mypageref}[1]{Page~\pageref{#1}}
+\newcommand{\fnref}[1]{Footnote~\ref{#1}}
+\newcommand{\fnrefp}[1]{Footnote~\vref{#1}}
+\renewcommand{\topfraction}{1}
+\renewcommand{\bottomfraction}{1}
+\renewcommand{\textfraction}{0}
+\renewcommand{\floatpagefraction}{1}
+% \bibliographystyle{./IEEEtran}
+\bibliographystyle{unsrt}
+
+\hyphenation{Ashu-tosh pr-ess}
+
+\makeindex
+\begin{document}
+\pagestyle{plain}
+\pagestyle{empty}
+\frontmatter
+\thispagestyle{empty}
+%\input{suppl/dedicate}
+\pagestyle{headings}
+\tableofcontents
+
+\listoffigures
+\listoftables
+\listofard
+\listofcode
+\listofpyd
+\listofjuliad
+\listofOpenModelicad
+%\thispagestyle{empty}
+\addtocontents{toc}{\protect\thispagestyle{empty}}
+%\input{suppl/preface}
+%\input{suppl/acr}
+\input{suppl/acr}
+
+\mainmatter
+\pagestyle{headings}
+\renewcommand\chaptermark[1]{\markboth{\bf {\thechapter. #1}}{}}
+\renewcommand\sectionmark[1]{\markright{\bf {\thesection. #1}}}
+
+%\input{texfiles/microcontintro.tex}
+%\input{texfiles/sciaurint.tex}
+\input{suppl/intro.tex}
+\input{user-code/hw-env/hw-env.tex}
+\input{user-code/sw-env/sw-env.tex}
+
+\input{user-code/led/led-base.tex}
+\input{user-code/led/led-scilab.tex}
+\input{user-code/led/led-python.tex}
+\input{user-code/led/led-julia.tex}
+\input{user-code/led/led-OM.tex}
+
+\input{user-code/push/push-base.tex}
+\input{user-code/push/push-scilab.tex}
+\input{user-code/push/push-python.tex}
+\input{user-code/push/push-julia.tex}
+\input{user-code/push/push-OM.tex}
+
+\input{user-code/ldr/ldr-base.tex}
+\input{user-code/ldr/ldr-scilab.tex}
+\input{user-code/ldr/ldr-python.tex}
+\input{user-code/ldr/ldr-julia.tex}
+\input{user-code/ldr/ldr-OM.tex}
+
+\input{user-code/pot/pot-base.tex}
+\input{user-code/pot/pot-scilab.tex}
+\input{user-code/pot/pot-python.tex}
+\input{user-code/pot/pot-julia.tex}
+\input{user-code/pot/pot-OM.tex}
+
+\input{user-code/thermistor/thermistor-base.tex}
+\input{user-code/thermistor/thermistor-scilab.tex}
+\input{user-code/thermistor/thermistor-python.tex}
+\input{user-code/thermistor/thermistor-julia.tex}
+\input{user-code/thermistor/thermistor-OM.tex}
+
+\input{user-code/servo/servo-base.tex}
+\input{user-code/servo/servo-scilab.tex}
+\input{user-code/servo/servo-python.tex}
+\input{user-code/servo/servo-julia.tex}
+\input{user-code/servo/servo-OM.tex}
+
+\input{user-code/dcmotor/dcmotor-base.tex}
+\input{user-code/dcmotor/dcmotor-scilab.tex}
+\input{user-code/dcmotor/dcmotor-python.tex}
+\input{user-code/dcmotor/dcmotor-julia.tex}
+\input{user-code/dcmotor/dcmotor-OM.tex}
+
+
+
+
+\input{user-code/modbus/modbus.tex}
+
+%\input{texfiles/servo.tex}
+%\input{texfiles/Appendix.tex}
+%\appendix
+%\input{texfiles/sp-appendix.tex}
+%\input{windows/windows}
+
+\bibliography{bibliography.bib}
+%\printindex
+%\input{texfiles/AuthorInfo.tex}
+\end{document}
diff --git a/floss-arduino.OpenModelicad b/floss-arduino.OpenModelicad
index 9d89fb0..b99bee8 100644
--- a/floss-arduino.OpenModelicad
+++ b/floss-arduino.OpenModelicad
@@ -1,30 +1,30 @@
-\contentsline {section}{\numberline {3.{1}}An OpenModelica code/model to check whether the firmware is properly installed or not}{65}%
+\contentsline {section}{\numberline {3.{1}}An OpenModelica code/model to check whether the firmware is properly installed or not}{65}{OpenModelicamass.3.1}
 \addvspace {10pt}
-\contentsline {section}{\numberline {4.{1}}Turning on the blue LED}{91}%
-\contentsline {section}{\numberline {4.{2}}Turning on the blue LED and turning it off after two seconds}{91}%
-\contentsline {section}{\numberline {4.{3}}Turning on blue and red LEDs for 5 seconds and then turning them off one by one}{92}%
-\contentsline {section}{\numberline {4.{4}}Blinking the green LED}{93}%
+\contentsline {section}{\numberline {4.{1}}Turning on the blue LED}{91}{OpenModelicamass.4.1}
+\contentsline {section}{\numberline {4.{2}}Turning on the blue LED and turning it off after two seconds}{91}{OpenModelicamass.4.2}
+\contentsline {section}{\numberline {4.{3}}Turning on blue and red LEDs for 5 seconds and then turning them off one by one}{92}{OpenModelicamass.4.3}
+\contentsline {section}{\numberline {4.{4}}Blinking the green LED}{93}{OpenModelicamass.4.4}
 \addvspace {10pt}
-\contentsline {section}{\numberline {5.{1}}Read the status of the pushbutton and display it on the output window}{111}%
-\contentsline {section}{\numberline {5.{2}}Turning the LED on or off depending on the pushbutton}{112}%
+\contentsline {section}{\numberline {5.{1}}Read the status of the pushbutton and display it on the output window}{111}{OpenModelicamass.5.1}
+\contentsline {section}{\numberline {5.{2}}Turning the LED on or off depending on the pushbutton}{112}{OpenModelicamass.5.2}
 \addvspace {10pt}
-\contentsline {section}{\numberline {6.{1}}Read and display the LDR values}{132}%
-\contentsline {section}{\numberline {6.{2}}Turning the red LED on and off}{133}%
+\contentsline {section}{\numberline {6.{1}}Read and display the LDR values}{132}{OpenModelicamass.6.1}
+\contentsline {section}{\numberline {6.{2}}Turning the red LED on and off}{133}{OpenModelicamass.6.2}
 \addvspace {10pt}
-\contentsline {section}{\numberline {7.{1}}Turning on LEDs depending on the potentiometer threshold}{147}%
+\contentsline {section}{\numberline {7.{1}}Turning on LEDs depending on the potentiometer threshold}{147}{OpenModelicamass.7.1}
 \addvspace {10pt}
-\contentsline {section}{\numberline {8.{1}}Read and display the thermistor values}{171}%
-\contentsline {section}{\numberline {8.{2}}Turning the buzzer on using thermistor values}{171}%
+\contentsline {section}{\numberline {8.{1}}Read and display the thermistor values}{171}{OpenModelicamass.8.1}
+\contentsline {section}{\numberline {8.{2}}Turning the buzzer on using thermistor values}{172}{OpenModelicamass.8.2}
 \addvspace {10pt}
-\contentsline {section}{\numberline {9.{1}}Rotating the servomotor to a specified degree}{198}%
-\contentsline {section}{\numberline {9.{2}}Rotating the servomotor to a specified degree and reversing}{199}%
-\contentsline {section}{\numberline {9.{3}}Rotating the servomotor in steps of $20^\circ $}{199}%
-\contentsline {section}{\numberline {9.{4}}Rotating the servomotor to a degree specified by the potentiometer}{200}%
+\contentsline {section}{\numberline {9.{1}}Rotating the servomotor to a specified degree}{198}{OpenModelicamass.9.1}
+\contentsline {section}{\numberline {9.{2}}Rotating the servomotor to a specified degree and reversing}{199}{OpenModelicamass.9.2}
+\contentsline {section}{\numberline {9.{3}}Rotating the servomotor in steps of $20^\circ $}{199}{OpenModelicamass.9.3}
+\contentsline {section}{\numberline {9.{4}}Rotating the servomotor to a degree specified by the potentiometer}{200}{OpenModelicamass.9.4}
 \addvspace {10pt}
-\contentsline {section}{\numberline {10.{1}}Rotating the DC motor}{228}%
-\contentsline {section}{\numberline {10.{2}}Rotating the DC motor in both directions}{229}%
-\contentsline {section}{\numberline {10.{3}}Rotating the DC motor in both directions in a loop}{229}%
+\contentsline {section}{\numberline {10.{1}}Rotating the DC motor}{228}{OpenModelicamass.10.1}
+\contentsline {section}{\numberline {10.{2}}Rotating the DC motor in both directions}{229}{OpenModelicamass.10.2}
+\contentsline {section}{\numberline {10.{3}}Rotating the DC motor in both directions in a loop}{229}{OpenModelicamass.10.3}
 \addvspace {10pt}
-\contentsline {section}{\numberline {11.{1}}Code for Single Phase Current Output}{251}%
-\contentsline {section}{\numberline {11.{2}}Code for Single Phase Voltage Output}{251}%
-\contentsline {section}{\numberline {11.{3}}Code for Single Phase Active Power Output}{251}%
+\contentsline {section}{\numberline {11.{1}}Code for Single Phase Current Output}{251}{OpenModelicamass.11.1}
+\contentsline {section}{\numberline {11.{2}}Code for Single Phase Voltage Output}{251}{OpenModelicamass.11.2}
+\contentsline {section}{\numberline {11.{3}}Code for Single Phase Active Power Output}{251}{OpenModelicamass.11.3}
diff --git a/floss-arduino.ard b/floss-arduino.ard
index d1e4260..42a46b2 100644
--- a/floss-arduino.ard
+++ b/floss-arduino.ard
@@ -1,28 +1,28 @@
-\contentsline {section}{\numberline {3.{1}}First 10 lines of the FLOSS firmware}{25}%
+\contentsline {section}{\numberline {3.{1}}First 10 lines of the FLOSS firmware}{25}{ardmass.3.1}
 \addvspace {10pt}
-\contentsline {section}{\numberline {4.{1}}Turning on the blue LED}{72}%
-\contentsline {section}{\numberline {4.{2}}Turning on the blue LED and turning it off after two seconds}{72}%
-\contentsline {section}{\numberline {4.{3}}Turning on blue and red LEDs for 5 seconds and then turning them off one by one}{73}%
-\contentsline {section}{\numberline {4.{4}}Blinking the green LED}{73}%
+\contentsline {section}{\numberline {4.{1}}Turning on the blue LED}{72}{ardmass.4.1}
+\contentsline {section}{\numberline {4.{2}}Turning on the blue LED and turning it off after two seconds}{72}{ardmass.4.2}
+\contentsline {section}{\numberline {4.{3}}Turning on blue and red LEDs for 5 seconds and then turning them off one by one}{73}{ardmass.4.3}
+\contentsline {section}{\numberline {4.{4}}Blinking the green LED}{73}{ardmass.4.4}
 \addvspace {10pt}
-\contentsline {section}{\numberline {5.{1}}Read the status of the pushbutton and display it on the Serial Monitor}{99}%
-\contentsline {section}{\numberline {5.{2}}Turning the LED on or off depending on the pushbutton}{99}%
+\contentsline {section}{\numberline {5.{1}}Read the status of the pushbutton and display it on the Serial Monitor}{99}{ardmass.5.1}
+\contentsline {section}{\numberline {5.{2}}Turning the LED on or off depending on the pushbutton}{99}{ardmass.5.2}
 \addvspace {10pt}
-\contentsline {section}{\numberline {6.{1}}Read and display the LDR values}{120}%
-\contentsline {section}{\numberline {6.{2}}Turning the red LED on and off}{120}%
+\contentsline {section}{\numberline {6.{1}}Read and display the LDR values}{120}{ardmass.6.1}
+\contentsline {section}{\numberline {6.{2}}Turning the red LED on and off}{120}{ardmass.6.2}
 \addvspace {10pt}
-\contentsline {section}{\numberline {7.{1}}Turning on LEDs depending on the potentiometer threshold}{138}%
+\contentsline {section}{\numberline {7.{1}}Turning on LEDs depending on the potentiometer threshold}{138}{ardmass.7.1}
 \addvspace {10pt}
-\contentsline {section}{\numberline {8.{1}}Read and display the thermistor values}{154}%
-\contentsline {section}{\numberline {8.{2}}Turning the buzzer on using thermistor values}{155}%
+\contentsline {section}{\numberline {8.{1}}Read and display the thermistor values}{154}{ardmass.8.1}
+\contentsline {section}{\numberline {8.{2}}Turning the buzzer on using thermistor values}{155}{ardmass.8.2}
 \addvspace {10pt}
-\contentsline {section}{\numberline {9.{1}}Rotating the servomotor to a specified degree}{178}%
-\contentsline {section}{\numberline {9.{2}}Rotating the servomotor to a specified degree and reversing}{179}%
-\contentsline {section}{\numberline {9.{3}}Rotating the servomotor in increments}{179}%
-\contentsline {section}{\numberline {9.{4}}Rotating the servomotor through the potentiometer}{179}%
+\contentsline {section}{\numberline {9.{1}}Rotating the servomotor to a specified degree}{178}{ardmass.9.1}
+\contentsline {section}{\numberline {9.{2}}Rotating the servomotor to a specified degree and reversing}{179}{ardmass.9.2}
+\contentsline {section}{\numberline {9.{3}}Rotating the servomotor in increments}{179}{ardmass.9.3}
+\contentsline {section}{\numberline {9.{4}}Rotating the servomotor through the potentiometer}{179}{ardmass.9.4}
 \addvspace {10pt}
-\contentsline {section}{\numberline {10.{1}}Rotating the DC motor}{208}%
-\contentsline {section}{\numberline {10.{2}}Rotating the DC motor in both directions}{208}%
-\contentsline {section}{\numberline {10.{3}}Rotating the DC motor in both directions in a loop}{209}%
+\contentsline {section}{\numberline {10.{1}}Rotating the DC motor}{208}{ardmass.10.1}
+\contentsline {section}{\numberline {10.{2}}Rotating the DC motor in both directions}{208}{ardmass.10.2}
+\contentsline {section}{\numberline {10.{3}}Rotating the DC motor in both directions in a loop}{209}{ardmass.10.3}
 \addvspace {10pt}
-\contentsline {section}{\numberline {11.{1}}First 10 lines of the firmware for Modbus Energy Meter experiment}{245}%
+\contentsline {section}{\numberline {11.{1}}First 10 lines of the firmware for Modbus Energy Meter experiment}{245}{ardmass.11.1}
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index b9e0c64..e376954 100644
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+++ b/floss-arduino.aux
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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}
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diff --git a/floss-arduino.blg b/floss-arduino.blg
index 303ea5e..d85bb8a 100644
--- a/floss-arduino.blg
+++ b/floss-arduino.blg
@@ -1,8 +1,8 @@
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 The style file: unsrt.bst
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+Database file #1: bibliography.bib.bib
 You've used 27 entries,
             1791 wiz_defined-function locations,
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diff --git a/floss-arduino.cod b/floss-arduino.cod
index e333278..d1f2fef 100644
--- a/floss-arduino.cod
+++ b/floss-arduino.cod
@@ -1,34 +1,34 @@
 \addvspace {10pt}
-\contentsline {section}{\numberline {3.{1}}A Scilab code to check whether the firmware is properly installed or not}{34}%
+\contentsline {section}{\numberline {3.{1}}A Scilab code to check whether the firmware is properly installed or not}{34}{codemass.3.1}
 \addvspace {10pt}
 \addvspace {10pt}
 \addvspace {10pt}
-\contentsline {section}{\numberline {4.{1}}Turning on the blue LED}{75}%
-\contentsline {section}{\numberline {4.{2}}Turning on the blue LED and turning it off after two seconds}{76}%
-\contentsline {section}{\numberline {4.{3}}Turning on blue and red LEDs for 5 seconds and then turning them off one by one}{76}%
-\contentsline {section}{\numberline {4.{4}}Blinking the green LED}{76}%
+\contentsline {section}{\numberline {4.{1}}Turning on the blue LED}{75}{codemass.4.1}
+\contentsline {section}{\numberline {4.{2}}Turning on the blue LED and turning it off after two seconds}{76}{codemass.4.2}
+\contentsline {section}{\numberline {4.{3}}Turning on blue and red LEDs for 5 seconds and then turning them off one by one}{76}{codemass.4.3}
+\contentsline {section}{\numberline {4.{4}}Blinking the green LED}{76}{codemass.4.4}
 \addvspace {10pt}
-\contentsline {section}{\numberline {5.{1}}Read the status of the pushbutton and display it on the GUI}{101}%
-\contentsline {section}{\numberline {5.{2}}Turning the LED on or off depending on the pushbutton}{102}%
+\contentsline {section}{\numberline {5.{1}}Read the status of the pushbutton and display it on the GUI}{101}{codemass.5.1}
+\contentsline {section}{\numberline {5.{2}}Turning the LED on or off depending on the pushbutton}{102}{codemass.5.2}
 \addvspace {10pt}
-\contentsline {section}{\numberline {6.{1}}Read and display the LDR values}{122}%
-\contentsline {section}{\numberline {6.{2}}Turning the red LED on and off}{122}%
+\contentsline {section}{\numberline {6.{1}}Read and display the LDR values}{122}{codemass.6.1}
+\contentsline {section}{\numberline {6.{2}}Turning the red LED on and off}{122}{codemass.6.2}
 \addvspace {10pt}
-\contentsline {section}{\numberline {7.{1}}Turning on LEDs depending on the potentiometer threshold}{140}%
+\contentsline {section}{\numberline {7.{1}}Turning on LEDs depending on the potentiometer threshold}{140}{codemass.7.1}
 \addvspace {10pt}
-\contentsline {section}{\numberline {8.{1}}Read and display the thermistor values}{158}%
-\contentsline {section}{\numberline {8.{2}}Turning the buzzer on using thermistor values}{158}%
+\contentsline {section}{\numberline {8.{1}}Read and display the thermistor values}{158}{codemass.8.1}
+\contentsline {section}{\numberline {8.{2}}Turning the buzzer on using thermistor values}{158}{codemass.8.2}
 \addvspace {10pt}
-\contentsline {section}{\numberline {9.{1}}Rotating the servomotor to a specified degree}{182}%
-\contentsline {section}{\numberline {9.{2}}Rotating the servomotor to a specified degree and reversing}{182}%
-\contentsline {section}{\numberline {9.{3}}Rotating the servomotor in steps of $20^\circ $}{182}%
-\contentsline {section}{\numberline {9.{4}}Rotating the servomotor to a degree specified by the potentiometer}{183}%
+\contentsline {section}{\numberline {9.{1}}Rotating the servomotor to a specified degree}{182}{codemass.9.1}
+\contentsline {section}{\numberline {9.{2}}Rotating the servomotor to a specified degree and reversing}{182}{codemass.9.2}
+\contentsline {section}{\numberline {9.{3}}Rotating the servomotor in steps of $20^\circ $}{182}{codemass.9.3}
+\contentsline {section}{\numberline {9.{4}}Rotating the servomotor to a degree specified by the potentiometer}{183}{codemass.9.4}
 \addvspace {10pt}
-\contentsline {section}{\numberline {10.{1}}Rotating the DC motor}{212}%
-\contentsline {section}{\numberline {10.{2}}Rotating the DC motor in both directions}{212}%
-\contentsline {section}{\numberline {10.{3}}Rotating the DC motor in both directions in a loop}{213}%
+\contentsline {section}{\numberline {10.{1}}Rotating the DC motor}{212}{codemass.10.1}
+\contentsline {section}{\numberline {10.{2}}Rotating the DC motor in both directions}{212}{codemass.10.2}
+\contentsline {section}{\numberline {10.{3}}Rotating the DC motor in both directions in a loop}{213}{codemass.10.3}
 \addvspace {10pt}
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-\contentsline {section}{\numberline {11.{3}}First 10 lines of the code for Single Phase Voltage Output}{246}%
-\contentsline {section}{\numberline {11.{4}}First 10 lines of the code for Single Phase Active Power Output}{247}%
+\contentsline {section}{\numberline {11.{1}}First 10 lines of the function for scifunc block}{246}{codemass.11.1}
+\contentsline {section}{\numberline {11.{2}}First 10 lines of the code for Single Phase Current Output}{246}{codemass.11.2}
+\contentsline {section}{\numberline {11.{3}}First 10 lines of the code for Single Phase Voltage Output}{246}{codemass.11.3}
+\contentsline {section}{\numberline {11.{4}}First 10 lines of the code for Single Phase Active Power Output}{247}{codemass.11.4}
diff --git a/floss-arduino.fdb_latexmk b/floss-arduino.fdb_latexmk
index 0541f62..53b52de 100644
--- a/floss-arduino.fdb_latexmk
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+  "floss-arduino.thm"
   "/home/fossee/Desktop/floss-scilab-arduino/floss-arduino.log"
   "floss-arduino.OpenModelicad"
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diff --git a/floss-arduino.fls b/floss-arduino.fls
index 496e9ba..26c2a4f 100644
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+INPUT /usr/local/texlive/2017/texmf-dist/fonts/type1/public/amsfonts/cm/cmsy6.pfb
+INPUT /usr/local/texlive/2017/texmf-dist/fonts/type1/public/amsfonts/cm/cmsy8.pfb
+INPUT /usr/local/texlive/2017/texmf-dist/fonts/type1/public/amsfonts/cm/cmsy9.pfb
+INPUT /usr/local/texlive/2017/texmf-dist/fonts/type1/public/bera/fvmr8a.pfb
+INPUT /usr/local/texlive/2017/texmf-dist/fonts/type1/public/cm-super/sfbx0900.pfb
+INPUT /usr/local/texlive/2017/texmf-dist/fonts/type1/public/cm-super/sfbx1095.pfb
+INPUT /usr/local/texlive/2017/texmf-dist/fonts/type1/public/cm-super/sfbx1200.pfb
+INPUT /usr/local/texlive/2017/texmf-dist/fonts/type1/public/cm-super/sfbx1440.pfb
+INPUT /usr/local/texlive/2017/texmf-dist/fonts/type1/public/cm-super/sfbx2074.pfb
+INPUT /usr/local/texlive/2017/texmf-dist/fonts/type1/public/cm-super/sfbx2488.pfb
+INPUT /usr/local/texlive/2017/texmf-dist/fonts/type1/public/cm-super/sfrm0600.pfb
+INPUT /usr/local/texlive/2017/texmf-dist/fonts/type1/public/cm-super/sfrm0800.pfb
+INPUT /usr/local/texlive/2017/texmf-dist/fonts/type1/public/cm-super/sfrm0900.pfb
+INPUT /usr/local/texlive/2017/texmf-dist/fonts/type1/public/cm-super/sfrm1000.pfb
+INPUT /usr/local/texlive/2017/texmf-dist/fonts/type1/public/cm-super/sfrm1095.pfb
+INPUT /usr/local/texlive/2017/texmf-dist/fonts/type1/public/cm-super/sfsi1095.pfb
+INPUT /usr/local/texlive/2017/texmf-dist/fonts/type1/public/cm-super/sfss1095.pfb
+INPUT /usr/local/texlive/2017/texmf-dist/fonts/type1/public/cm-super/sfti1095.pfb
diff --git a/floss-arduino.idx b/floss-arduino.idx
index f8b64c2..92a94ab 100644
--- a/floss-arduino.idx
+++ b/floss-arduino.idx
@@ -1,5 +1,5 @@
-\indexentry{H-Bridge circuit DC motor}{203}
-\indexentry{H-Bridge}{203}
-\indexentry{L293D,L298}{203}
-\indexentry{PCB breakout   board}{203}
-\indexentry{pulse width   modulation, PWM}{203}
+\indexentry{H-Bridge circuit DC motor|hyperpage}{203}
+\indexentry{H-Bridge|hyperpage}{203}
+\indexentry{L293D,L298|hyperpage}{203}
+\indexentry{PCB breakout   board|hyperpage}{203}
+\indexentry{pulse width   modulation, PWM|hyperpage}{203}
diff --git a/floss-arduino.ilg b/floss-arduino.ilg
index 0083481..ace6d50 100644
--- a/floss-arduino.ilg
+++ b/floss-arduino.ilg
@@ -1,4 +1,4 @@
-This is makeindex, version 2.15 [TeX Live 2019] (kpathsea + Thai support).
+This is makeindex, version 2.15 [TeX Live 2017] (kpathsea + Thai support).
 Scanning input file floss-arduino.idx....done (5 entries accepted, 0 rejected).
 Sorting entries....done (11 comparisons).
 Generating output file floss-arduino.ind....done (15 lines written, 0 warnings).
diff --git a/floss-arduino.ind b/floss-arduino.ind
index e61a74b..3bf5a4d 100644
--- a/floss-arduino.ind
+++ b/floss-arduino.ind
@@ -1,15 +1,15 @@
 \begin{theindex}
 
-  \item H-Bridge, 203
-  \item H-Bridge circuit DC motor, 203
+  \item H-Bridge, \hyperpage{203}
+  \item H-Bridge circuit DC motor, \hyperpage{203}
 
   \indexspace
 
-  \item L293D,L298, 203
+  \item L293D,L298, \hyperpage{203}
 
   \indexspace
 
-  \item PCB breakout   board, 203
-  \item pulse width   modulation, PWM, 203
+  \item PCB breakout   board, \hyperpage{203}
+  \item pulse width   modulation, PWM, \hyperpage{203}
 
 \end{theindex}
diff --git a/floss-arduino.juliad b/floss-arduino.juliad
index 2cf67a4..5c32a85 100644
--- a/floss-arduino.juliad
+++ b/floss-arduino.juliad
@@ -1,30 +1,30 @@
-\contentsline {section}{\numberline {3.{1}}A Julia source file to check whether the firmware is properly installed or not}{55}%
+\contentsline {section}{\numberline {3.{1}}A Julia source file to check whether the firmware is properly installed or not}{55}{juliamass.3.1}
 \addvspace {10pt}
-\contentsline {section}{\numberline {4.{1}}Turning on the blue LED}{87}%
-\contentsline {section}{\numberline {4.{2}}Turning on the blue LED and turning it off after two seconds}{88}%
-\contentsline {section}{\numberline {4.{3}}Turning on blue and red LEDs for 5 seconds and then turning them off one by one}{88}%
-\contentsline {section}{\numberline {4.{4}}Blinking the green LED}{88}%
+\contentsline {section}{\numberline {4.{1}}Turning on the blue LED}{87}{juliamass.4.1}
+\contentsline {section}{\numberline {4.{2}}Turning on the blue LED and turning it off after two seconds}{88}{juliamass.4.2}
+\contentsline {section}{\numberline {4.{3}}Turning on blue and red LEDs for 5 seconds and then turning them off one by one}{88}{juliamass.4.3}
+\contentsline {section}{\numberline {4.{4}}Blinking the green LED}{88}{juliamass.4.4}
 \addvspace {10pt}
-\contentsline {section}{\numberline {5.{1}}Read the status of the pushbutton and display it on Command Prompt or the Terminal.}{109}%
-\contentsline {section}{\numberline {5.{2}}Turning the LED on or off depending on the pushbutton}{109}%
+\contentsline {section}{\numberline {5.{1}}Read the status of the pushbutton and display it on Command Prompt or the Terminal.}{109}{juliamass.5.1}
+\contentsline {section}{\numberline {5.{2}}Turning the LED on or off depending on the pushbutton}{109}{juliamass.5.2}
 \addvspace {10pt}
-\contentsline {section}{\numberline {6.{1}}Read and display the LDR values}{130}%
-\contentsline {section}{\numberline {6.{2}}Turning the red LED on and off}{131}%
+\contentsline {section}{\numberline {6.{1}}Read and display the LDR values}{130}{juliamass.6.1}
+\contentsline {section}{\numberline {6.{2}}Turning the red LED on and off}{131}{juliamass.6.2}
 \addvspace {10pt}
-\contentsline {section}{\numberline {7.{1}}Turning on LEDs depending on the potentiometer threshold}{145}%
+\contentsline {section}{\numberline {7.{1}}Turning on LEDs depending on the potentiometer threshold}{145}{juliamass.7.1}
 \addvspace {10pt}
-\contentsline {section}{\numberline {8.{1}}Read and display the thermistor values}{168}%
-\contentsline {section}{\numberline {8.{2}}Turning the buzzer on using thermistor values}{168}%
+\contentsline {section}{\numberline {8.{1}}Read and display the thermistor values}{168}{juliamass.8.1}
+\contentsline {section}{\numberline {8.{2}}Turning the buzzer on using thermistor values}{169}{juliamass.8.2}
 \addvspace {10pt}
-\contentsline {section}{\numberline {9.{1}}Rotating the servomotor to a specified degree}{195}%
-\contentsline {section}{\numberline {9.{2}}Rotating the servomotor to a specified degree and reversing}{195}%
-\contentsline {section}{\numberline {9.{3}}Rotating the servomotor in steps of $20^\circ $}{195}%
-\contentsline {section}{\numberline {9.{4}}Rotating the servomotor to a degree specified by the potentiometer}{196}%
+\contentsline {section}{\numberline {9.{1}}Rotating the servomotor to a specified degree}{195}{juliamass.9.1}
+\contentsline {section}{\numberline {9.{2}}Rotating the servomotor to a specified degree and reversing}{195}{juliamass.9.2}
+\contentsline {section}{\numberline {9.{3}}Rotating the servomotor in steps of $20^\circ $}{195}{juliamass.9.3}
+\contentsline {section}{\numberline {9.{4}}Rotating the servomotor to a degree specified by the potentiometer}{196}{juliamass.9.4}
 \addvspace {10pt}
-\contentsline {section}{\numberline {10.{1}}Rotating the DC motor}{224}%
-\contentsline {section}{\numberline {10.{2}}Rotating the DC motor in both directions}{225}%
-\contentsline {section}{\numberline {10.{3}}Rotating the DC motor in both directions in a loop}{225}%
+\contentsline {section}{\numberline {10.{1}}Rotating the DC motor}{224}{juliamass.10.1}
+\contentsline {section}{\numberline {10.{2}}Rotating the DC motor in both directions}{225}{juliamass.10.2}
+\contentsline {section}{\numberline {10.{3}}Rotating the DC motor in both directions in a loop}{225}{juliamass.10.3}
 \addvspace {10pt}
-\contentsline {section}{\numberline {11.{1}}Code for Single Phase Current Output}{250}%
-\contentsline {section}{\numberline {11.{2}}Code for Single Phase Voltage Output}{250}%
-\contentsline {section}{\numberline {11.{3}}First 10 lines of the code for Single Phase Active Power Output}{250}%
+\contentsline {section}{\numberline {11.{1}}Code for Single Phase Current Output}{250}{juliamass.11.1}
+\contentsline {section}{\numberline {11.{2}}Code for Single Phase Voltage Output}{250}{juliamass.11.2}
+\contentsline {section}{\numberline {11.{3}}First 10 lines of the code for Single Phase Active Power Output}{250}{juliamass.11.3}
diff --git a/floss-arduino.lof b/floss-arduino.lof
index ddf632b..e7fb161 100644
--- a/floss-arduino.lof
+++ b/floss-arduino.lof
@@ -1,135 +1,135 @@
 \addvspace {10\p@ }
 \addvspace {10\p@ }
-\contentsline {figure}{\numberline {2.1}{\ignorespaces Functional block diagram of a microcontroller\relax }}{4}%
-\contentsline {figure}{\numberline {2.2}{\ignorespaces ADC resolution\relax }}{6}%
-\contentsline {figure}{\numberline {2.3}{\ignorespaces The logo of Open Source Hardware\relax }}{7}%
-\contentsline {figure}{\numberline {2.4}{\ignorespaces Arduino Uno Board\relax }}{9}%
-\contentsline {figure}{\numberline {2.5}{\ignorespaces Arduino Mega Board\relax }}{10}%
-\contentsline {figure}{\numberline {2.6}{\ignorespaces LilyPad Arduino Board\relax }}{11}%
-\contentsline {figure}{\numberline {2.7}{\ignorespaces Arduino Phone\relax }}{11}%
-\contentsline {figure}{\numberline {2.8}{\ignorespaces 3D printer\relax }}{12}%
-\contentsline {figure}{\numberline {2.9}{\ignorespaces PCB image of the shield}}{13}%
-\contentsline {figure}{\numberline {2.10}{\ignorespaces Pictorial representation of the schematic of the shield\relax }}{14}%
-\contentsline {figure}{\numberline {2.11}{\ignorespaces PCB of the shield\relax }}{14}%
-\contentsline {figure}{\numberline {2.12}{\ignorespaces Picture of the shield with all components\relax }}{16}%
+\contentsline {figure}{\numberline {2.1}{\ignorespaces Functional block diagram of a microcontroller\relax }}{4}{figure.caption.10}
+\contentsline {figure}{\numberline {2.2}{\ignorespaces ADC resolution\relax }}{6}{figure.caption.11}
+\contentsline {figure}{\numberline {2.3}{\ignorespaces The logo of Open Source Hardware\relax }}{7}{figure.caption.12}
+\contentsline {figure}{\numberline {2.4}{\ignorespaces Arduino Uno Board\relax }}{9}{figure.caption.13}
+\contentsline {figure}{\numberline {2.5}{\ignorespaces Arduino Mega Board\relax }}{10}{figure.caption.15}
+\contentsline {figure}{\numberline {2.6}{\ignorespaces LilyPad Arduino Board\relax }}{11}{figure.caption.16}
+\contentsline {figure}{\numberline {2.7}{\ignorespaces Arduino Phone\relax }}{11}{figure.caption.18}
+\contentsline {figure}{\numberline {2.8}{\ignorespaces 3D printer\relax }}{12}{figure.caption.21}
+\contentsline {figure}{\numberline {2.9}{\ignorespaces PCB image of the shield}}{13}{figure.caption.22}
+\contentsline {figure}{\numberline {2.10}{\ignorespaces Pictorial representation of the schematic of the shield\relax }}{14}{figure.caption.23}
+\contentsline {figure}{\numberline {2.11}{\ignorespaces PCB of the shield\relax }}{14}{figure.caption.24}
+\contentsline {figure}{\numberline {2.12}{\ignorespaces Picture of the shield with all components\relax }}{16}{figure.caption.27}
 \addvspace {10\p@ }
-\contentsline {figure}{\numberline {3.1}{\ignorespaces Windows device manager\relax }}{19}%
-\contentsline {figure}{\numberline {3.2}{\ignorespaces Windows device manager\relax }}{20}%
-\contentsline {figure}{\numberline {3.3}{\ignorespaces Windows update driver option\relax }}{21}%
-\contentsline {figure}{\numberline {3.4}{\ignorespaces Linux terminal to launch Arduino IDE\relax }}{22}%
-\contentsline {figure}{\numberline {3.5}{\ignorespaces Arduino IDE\relax }}{22}%
-\contentsline {figure}{\numberline {3.6}{\ignorespaces Linux terminal to launch Scilab\relax }}{27}%
-\contentsline {figure}{\numberline {3.7}{\ignorespaces Browsing toolbox directory\relax }}{28}%
-\contentsline {figure}{\numberline {3.8}{\ignorespaces Output of builder.sce\relax }}{29}%
-\contentsline {figure}{\numberline {3.9}{\ignorespaces Output of loader.sce\relax }}{30}%
-\contentsline {figure}{\numberline {3.10}{\ignorespaces Device Manager in windows\relax }}{31}%
-\contentsline {figure}{\numberline {3.11}{\ignorespaces COM port properties window\relax }}{32}%
-\contentsline {figure}{\numberline {3.12}{\ignorespaces Port number on Linux terminal\relax }}{32}%
-\contentsline {figure}{\numberline {3.13}{\ignorespaces Scilab test code output\relax }}{34}%
-\contentsline {figure}{\numberline {3.14}{\ignorespaces Arduino toolbox functions used in this book\relax }}{34}%
-\contentsline {figure}{\numberline {3.15}{\ignorespaces Sine generator in palette browser\relax }}{36}%
-\contentsline {figure}{\numberline {3.16}{\ignorespaces CSCOPE block in xcos\relax }}{37}%
-\contentsline {figure}{\numberline {3.17}{\ignorespaces CLOCK\_c block in xcos\relax }}{37}%
-\contentsline {figure}{\numberline {3.18}{\ignorespaces Sine generator in Xcos\relax }}{38}%
-\contentsline {figure}{\numberline {3.19}{\ignorespaces Sine generator Xcos output\relax }}{38}%
-\contentsline {figure}{\numberline {3.20}{\ignorespaces CSCOPE configuration window\relax }}{39}%
-\contentsline {figure}{\numberline {3.21}{\ignorespaces Simulation setup window\relax }}{40}%
-\contentsline {figure}{\numberline {3.22}{\ignorespaces Palette browser showing Arduino blocks\relax }}{40}%
-\contentsline {figure}{\numberline {3.23}{\ignorespaces Xcos block help\relax }}{41}%
-\contentsline {figure}{\numberline {3.24}{\ignorespaces Installing Python 3 on Windows\relax }}{42}%
-\contentsline {figure}{\numberline {3.25}{\ignorespaces Launching the Command Prompt on Windows\relax }}{43}%
-\contentsline {figure}{\numberline {3.26}{\ignorespaces Command Prompt on Windows\relax }}{43}%
-\contentsline {figure}{\numberline {3.27}{\ignorespaces Julia's website to download 64-bit Windows/Linux binaries\relax }}{48}%
-\contentsline {figure}{\numberline {3.28}{\ignorespaces Installing Julia 1.6.0 on Windows\relax }}{48}%
-\contentsline {figure}{\numberline {3.29}{\ignorespaces Windows command prompt to launch Julia REPL\relax }}{50}%
-\contentsline {figure}{\numberline {3.30}{\ignorespaces Windows command prompt to enter Pkg REPL in Julia\relax }}{50}%
-\contentsline {figure}{\numberline {3.31}{\ignorespaces Linux terminal to launch Julia REPL\relax }}{53}%
-\contentsline {figure}{\numberline {3.32}{\ignorespaces Linux terminal to enter Pkg REPL in Julia\relax }}{54}%
-\contentsline {figure}{\numberline {3.33}{\ignorespaces Allowing Microsoft Defender to run the executable file\relax }}{57}%
-\contentsline {figure}{\numberline {3.34}{\ignorespaces Setup of Modelica Standard Library version\relax }}{58}%
-\contentsline {figure}{\numberline {3.35}{\ignorespaces User Interface of OMEdit\relax }}{59}%
-\contentsline {figure}{\numberline {3.36}{\ignorespaces Opening a model in OMEdit\relax }}{60}%
-\contentsline {figure}{\numberline {3.37}{\ignorespaces Opening a model in diagram view in OMEdit\relax }}{61}%
-\contentsline {figure}{\numberline {3.38}{\ignorespaces Different views of a model in OMEdit\relax }}{61}%
-\contentsline {figure}{\numberline {3.39}{\ignorespaces Opening a model in text view in OMEdit\relax }}{62}%
-\contentsline {figure}{\numberline {3.40}{\ignorespaces Simulating a model in OMEdit\relax }}{62}%
-\contentsline {figure}{\numberline {3.41}{\ignorespaces Output window of OMEdit\relax }}{63}%
-\contentsline {figure}{\numberline {3.42}{\ignorespaces Examples provided in the OpenModelica-Arduino toolbox\relax }}{65}%
+\contentsline {figure}{\numberline {3.1}{\ignorespaces Windows device manager\relax }}{19}{figure.caption.28}
+\contentsline {figure}{\numberline {3.2}{\ignorespaces Windows device manager\relax }}{20}{figure.caption.29}
+\contentsline {figure}{\numberline {3.3}{\ignorespaces Windows update driver option\relax }}{21}{figure.caption.30}
+\contentsline {figure}{\numberline {3.4}{\ignorespaces Linux terminal to launch Arduino IDE\relax }}{22}{figure.caption.31}
+\contentsline {figure}{\numberline {3.5}{\ignorespaces Arduino IDE\relax }}{22}{figure.caption.32}
+\contentsline {figure}{\numberline {3.6}{\ignorespaces Linux terminal to launch Scilab\relax }}{27}{figure.caption.33}
+\contentsline {figure}{\numberline {3.7}{\ignorespaces Browsing toolbox directory\relax }}{28}{figure.caption.34}
+\contentsline {figure}{\numberline {3.8}{\ignorespaces Output of builder.sce\relax }}{29}{figure.caption.35}
+\contentsline {figure}{\numberline {3.9}{\ignorespaces Output of loader.sce\relax }}{30}{figure.caption.36}
+\contentsline {figure}{\numberline {3.10}{\ignorespaces Device Manager in windows\relax }}{31}{figure.caption.37}
+\contentsline {figure}{\numberline {3.11}{\ignorespaces COM port properties window\relax }}{32}{figure.caption.38}
+\contentsline {figure}{\numberline {3.12}{\ignorespaces Port number on Linux terminal\relax }}{32}{figure.caption.39}
+\contentsline {figure}{\numberline {3.13}{\ignorespaces Scilab test code output\relax }}{34}{figure.caption.40}
+\contentsline {figure}{\numberline {3.14}{\ignorespaces Arduino toolbox functions used in this book\relax }}{34}{figure.caption.41}
+\contentsline {figure}{\numberline {3.15}{\ignorespaces Sine generator in palette browser\relax }}{36}{figure.caption.42}
+\contentsline {figure}{\numberline {3.16}{\ignorespaces CSCOPE block in xcos\relax }}{37}{figure.caption.43}
+\contentsline {figure}{\numberline {3.17}{\ignorespaces CLOCK\_c block in xcos\relax }}{37}{figure.caption.44}
+\contentsline {figure}{\numberline {3.18}{\ignorespaces Sine generator in Xcos\relax }}{38}{figure.caption.45}
+\contentsline {figure}{\numberline {3.19}{\ignorespaces Sine generator Xcos output\relax }}{38}{figure.caption.46}
+\contentsline {figure}{\numberline {3.20}{\ignorespaces CSCOPE configuration window\relax }}{39}{figure.caption.47}
+\contentsline {figure}{\numberline {3.21}{\ignorespaces Simulation setup window\relax }}{40}{figure.caption.48}
+\contentsline {figure}{\numberline {3.22}{\ignorespaces Palette browser showing Arduino blocks\relax }}{40}{figure.caption.49}
+\contentsline {figure}{\numberline {3.23}{\ignorespaces Xcos block help\relax }}{41}{figure.caption.50}
+\contentsline {figure}{\numberline {3.24}{\ignorespaces Installing Python 3 on Windows\relax }}{42}{figure.caption.51}
+\contentsline {figure}{\numberline {3.25}{\ignorespaces Launching the Command Prompt on Windows\relax }}{43}{figure.caption.52}
+\contentsline {figure}{\numberline {3.26}{\ignorespaces Command Prompt on Windows\relax }}{43}{figure.caption.53}
+\contentsline {figure}{\numberline {3.27}{\ignorespaces Julia's website to download 64-bit Windows/Linux binaries\relax }}{48}{figure.caption.54}
+\contentsline {figure}{\numberline {3.28}{\ignorespaces Installing Julia 1.6.0 on Windows\relax }}{48}{figure.caption.55}
+\contentsline {figure}{\numberline {3.29}{\ignorespaces Windows command prompt to launch Julia REPL\relax }}{50}{figure.caption.56}
+\contentsline {figure}{\numberline {3.30}{\ignorespaces Windows command prompt to enter Pkg REPL in Julia\relax }}{50}{figure.caption.57}
+\contentsline {figure}{\numberline {3.31}{\ignorespaces Linux terminal to launch Julia REPL\relax }}{53}{figure.caption.58}
+\contentsline {figure}{\numberline {3.32}{\ignorespaces Linux terminal to enter Pkg REPL in Julia\relax }}{54}{figure.caption.59}
+\contentsline {figure}{\numberline {3.33}{\ignorespaces Allowing Microsoft Defender to run the executable file\relax }}{57}{figure.caption.60}
+\contentsline {figure}{\numberline {3.34}{\ignorespaces Setup of Modelica Standard Library version\relax }}{58}{figure.caption.61}
+\contentsline {figure}{\numberline {3.35}{\ignorespaces User Interface of OMEdit\relax }}{59}{figure.caption.62}
+\contentsline {figure}{\numberline {3.36}{\ignorespaces Opening a model in OMEdit\relax }}{60}{figure.caption.63}
+\contentsline {figure}{\numberline {3.37}{\ignorespaces Opening a model in diagram view in OMEdit\relax }}{61}{figure.caption.64}
+\contentsline {figure}{\numberline {3.38}{\ignorespaces Different views of a model in OMEdit\relax }}{61}{figure.caption.65}
+\contentsline {figure}{\numberline {3.39}{\ignorespaces Opening a model in text view in OMEdit\relax }}{62}{figure.caption.66}
+\contentsline {figure}{\numberline {3.40}{\ignorespaces Simulating a model in OMEdit\relax }}{62}{figure.caption.67}
+\contentsline {figure}{\numberline {3.41}{\ignorespaces Output window of OMEdit\relax }}{63}{figure.caption.68}
+\contentsline {figure}{\numberline {3.42}{\ignorespaces Examples provided in the OpenModelica-Arduino toolbox\relax }}{65}{figure.caption.69}
 \addvspace {10\p@ }
-\contentsline {figure}{\numberline {4.1}{\ignorespaces Light Emitting Diode\relax }}{67}%
-\contentsline {figure}{\numberline {4.2}{\ignorespaces Internal connection diagram for the RGB LED on the shield\relax }}{68}%
-\contentsline {figure}{\numberline {4.3}{\ignorespaces Connecting Arduino Uno\ and shield\relax }}{68}%
-\contentsline {figure}{\numberline {4.4}{\ignorespaces An RGB LED with Arduino Uno\ using a breadboard\relax }}{69}%
-\contentsline {figure}{\numberline {4.5}{\ignorespaces LED experiments directly on Arduino Uno\ board, without the shield\relax }}{72}%
-\contentsline {figure}{\numberline {4.6}{\ignorespaces Turning the blue LED on through Xcos}}{77}%
-\contentsline {figure}{\numberline {4.7}{\ignorespaces Turning the blue LED on through Xcos for two seconds}}{78}%
-\contentsline {figure}{\numberline {4.8}{\ignorespaces Turning the blue and red LEDs on through Xcos and turning them off one by one}}{79}%
-\contentsline {figure}{\numberline {4.9}{\ignorespaces Blinking the green LED every second through Xcos}}{80}%
+\contentsline {figure}{\numberline {4.1}{\ignorespaces Light Emitting Diode\relax }}{67}{figure.caption.70}
+\contentsline {figure}{\numberline {4.2}{\ignorespaces Internal connection diagram for the RGB LED on the shield\relax }}{68}{figure.caption.71}
+\contentsline {figure}{\numberline {4.3}{\ignorespaces Connecting Arduino Uno\ and shield\relax }}{68}{figure.caption.72}
+\contentsline {figure}{\numberline {4.4}{\ignorespaces An RGB LED with Arduino Uno\ using a breadboard\relax }}{69}{figure.caption.73}
+\contentsline {figure}{\numberline {4.5}{\ignorespaces LED experiments directly on Arduino Uno\ board, without the shield\relax }}{72}{figure.caption.75}
+\contentsline {figure}{\numberline {4.6}{\ignorespaces Turning the blue LED on through Xcos}}{77}{figure.caption.77}
+\contentsline {figure}{\numberline {4.7}{\ignorespaces Turning the blue LED on through Xcos for two seconds}}{78}{figure.caption.79}
+\contentsline {figure}{\numberline {4.8}{\ignorespaces Turning the blue and red LEDs on through Xcos and turning them off one by one}}{79}{figure.caption.81}
+\contentsline {figure}{\numberline {4.9}{\ignorespaces Blinking the green LED every second through Xcos}}{80}{figure.caption.83}
 \addvspace {10\p@ }
-\contentsline {figure}{\numberline {5.1}{\ignorespaces Internal connection diagram for the pushbutton on the shield\relax }}{96}%
-\contentsline {figure}{\numberline {5.2}{\ignorespaces A pushbutton to read its status with Arduino Uno using a breadboard\relax }}{96}%
-\contentsline {figure}{\numberline {5.3}{\ignorespaces A pushbutton to control an LED with Arduino Uno using a breadboard\relax }}{97}%
-\contentsline {figure}{\numberline {5.4}{\ignorespaces GUI in Scilab to show the status of the pushbutton\relax }}{101}%
-\contentsline {figure}{\numberline {5.5}{\ignorespaces Printing the push button status on the display block}}{103}%
-\contentsline {figure}{\numberline {5.6}{\ignorespaces Turning the LED on or off, depending on the pushbutton}}{104}%
+\contentsline {figure}{\numberline {5.1}{\ignorespaces Internal connection diagram for the pushbutton on the shield\relax }}{96}{figure.caption.85}
+\contentsline {figure}{\numberline {5.2}{\ignorespaces A pushbutton to read its status with Arduino Uno using a breadboard\relax }}{96}{figure.caption.86}
+\contentsline {figure}{\numberline {5.3}{\ignorespaces A pushbutton to control an LED with Arduino Uno using a breadboard\relax }}{97}{figure.caption.87}
+\contentsline {figure}{\numberline {5.4}{\ignorespaces GUI in Scilab to show the status of the pushbutton\relax }}{101}{figure.caption.88}
+\contentsline {figure}{\numberline {5.5}{\ignorespaces Printing the push button status on the display block}}{103}{figure.caption.89}
+\contentsline {figure}{\numberline {5.6}{\ignorespaces Turning the LED on or off, depending on the pushbutton}}{104}{figure.caption.91}
 \addvspace {10\p@ }
-\contentsline {figure}{\numberline {6.1}{\ignorespaces Light Dependent Resistor\relax }}{116}%
-\contentsline {subfigure}{\numberline {(a)}{\ignorespaces {Pictorial representation of an LDR}}}{116}%
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-\contentsline {figure}{\numberline {6.3}{\ignorespaces An LDR to read its values with Arduino Uno\ using a breadboard\relax }}{117}%
-\contentsline {figure}{\numberline {6.4}{\ignorespaces An LDR to control an LED with Arduino Uno using a breadboard\relax }}{118}%
-\contentsline {figure}{\numberline {6.5}{\ignorespaces Xcos diagram to read LDR values}}{123}%
-\contentsline {figure}{\numberline {6.6}{\ignorespaces Plot window in Xcos to read LDR values\relax }}{123}%
-\contentsline {figure}{\numberline {6.7}{\ignorespaces Xcos diagram to read the value of the LDR, which is used to turn the blue LED on or off}}{125}%
-\contentsline {figure}{\numberline {6.8}{\ignorespaces Plot window in Xcos to read LDR values and the state of LED\relax }}{125}%
+\contentsline {figure}{\numberline {6.1}{\ignorespaces Light Dependent Resistor\relax }}{116}{figure.caption.93}
+\contentsline {subfigure}{\numberline {(a)}{\ignorespaces {Pictorial representation of an LDR}}}{116}{subfigure.1.1}
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+\contentsline {figure}{\numberline {6.2}{\ignorespaces Internal connection diagram for the LDR on the shield\relax }}{116}{figure.caption.94}
+\contentsline {figure}{\numberline {6.3}{\ignorespaces An LDR to read its values with Arduino Uno\ using a breadboard\relax }}{117}{figure.caption.95}
+\contentsline {figure}{\numberline {6.4}{\ignorespaces An LDR to control an LED with Arduino Uno using a breadboard\relax }}{118}{figure.caption.96}
+\contentsline {figure}{\numberline {6.5}{\ignorespaces Xcos diagram to read LDR values}}{123}{figure.caption.97}
+\contentsline {figure}{\numberline {6.6}{\ignorespaces Plot window in Xcos to read LDR values\relax }}{123}{figure.caption.98}
+\contentsline {figure}{\numberline {6.7}{\ignorespaces Xcos diagram to read the value of the LDR, which is used to turn the blue LED on or off}}{125}{figure.caption.100}
+\contentsline {figure}{\numberline {6.8}{\ignorespaces Plot window in Xcos to read LDR values and the state of LED\relax }}{125}{figure.caption.101}
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-\contentsline {figure}{\numberline {7.1}{\ignorespaces Potentiometer's schematic on the shield\relax }}{136}%
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-\contentsline {figure}{\numberline {7.2}{\ignorespaces A potentiometer to control an LED with Arduino Uno using a breadboard\relax }}{137}%
-\contentsline {figure}{\numberline {7.3}{\ignorespaces Turning LEDs on through Xcos depending on the potentiometer threshold}}{141}%
+\contentsline {figure}{\numberline {7.1}{\ignorespaces Potentiometer's schematic on the shield\relax }}{136}{figure.caption.103}
+\contentsline {subfigure}{\numberline {(a)}{\ignorespaces {Pictorial representation of a potentiometer}}}{136}{subfigure.1.1}
+\contentsline {subfigure}{\numberline {(b)}{\ignorespaces {Internal connection diagram for the potentiometer on the shield}}}{136}{subfigure.1.2}
+\contentsline {figure}{\numberline {7.2}{\ignorespaces A potentiometer to control an LED with Arduino Uno using a breadboard\relax }}{137}{figure.caption.104}
+\contentsline {figure}{\numberline {7.3}{\ignorespaces Turning LEDs on through Xcos depending on the potentiometer threshold}}{141}{figure.caption.105}
 \addvspace {10\p@ }
-\contentsline {figure}{\numberline {8.1}{\ignorespaces Pictorial and symbolic representation of a thermistor\relax }}{150}%
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-\contentsline {figure}{\numberline {8.3}{\ignorespaces A thermistor to read its values with Arduino Uno using a breadboard\relax }}{151}%
-\contentsline {figure}{\numberline {8.4}{\ignorespaces A thermistor to control a buzzer with Arduino Uno using a breadboard\relax }}{152}%
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-\contentsline {figure}{\numberline {8.8}{\ignorespaces Plot window in Xcos to read thermistor values and the state of LED\relax }}{163}%
+\contentsline {figure}{\numberline {8.1}{\ignorespaces Pictorial and symbolic representation of a thermistor\relax }}{150}{figure.caption.107}
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+\contentsline {subfigure}{\numberline {(a)}{\ignorespaces {Thermistor connection diagram}}}{150}{subfigure.2.1}
+\contentsline {subfigure}{\numberline {(b)}{\ignorespaces {Buzzer connection diagram}}}{150}{subfigure.2.2}
+\contentsline {figure}{\numberline {8.3}{\ignorespaces A thermistor to read its values with Arduino Uno using a breadboard\relax }}{151}{figure.caption.109}
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 \addvspace {10\p@ }
-\contentsline {figure}{\numberline {9.1}{\ignorespaces Connecting servomotor to the shield attached on Arduino Uno\relax }}{174}%
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-\contentsline {figure}{\numberline {10.7}{\ignorespaces Xcos control of the DC motor in both directions in a loop}}{216}%
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+\contentsline {figure}{\numberline {10.3}{\ignorespaces A schematic of DC motor connections\relax }}{205}{figure.caption.137}
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 \addvspace {10\p@ }
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-\contentsline {figure}{\numberline {11.6}{\ignorespaces Flowchart of Arduino firmware\relax }}{241}%
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-\contentsline {figure}{\numberline {11.12}{\ignorespaces Single phase active power output on Scilab Console\relax }}{244}%
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-\contentsline {figure}{\numberline {11.14}{\ignorespaces Xcos diagram to read Energy Meter values}}{248}%
+\contentsline {figure}{\numberline {11.1}{\ignorespaces Block diagram representation of the Protocol\relax }}{232}{figure.caption.155}
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+\contentsline {figure}{\numberline {11.11}{\ignorespaces Single phase voltage output in energy meter\relax }}{244}{figure.caption.172}
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+\contentsline {figure}{\numberline {11.14}{\ignorespaces Xcos diagram to read Energy Meter values}}{248}{figure.caption.175}
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diff --git a/floss-arduino.lot b/floss-arduino.lot
index fac9bd2..b9fcb6e 100644
--- a/floss-arduino.lot
+++ b/floss-arduino.lot
@@ -1,41 +1,41 @@
 \addvspace {10\p@ }
 \addvspace {10\p@ }
-\contentsline {table}{\numberline {2.1}{\ignorespaces Arduino Uno hardware specifications\relax }}{10}%
-\contentsline {table}{\numberline {2.2}{\ignorespaces Values of components used in the shield\relax }}{15}%
-\contentsline {table}{\numberline {2.3}{\ignorespaces Information on sensors and pin numbers\relax }}{15}%
+\contentsline {table}{\numberline {2.1}{\ignorespaces Arduino Uno hardware specifications\relax }}{10}{table.caption.14}
+\contentsline {table}{\numberline {2.2}{\ignorespaces Values of components used in the shield\relax }}{15}{table.caption.25}
+\contentsline {table}{\numberline {2.3}{\ignorespaces Information on sensors and pin numbers\relax }}{15}{table.caption.26}
 \addvspace {10\p@ }
 \addvspace {10\p@ }
-\contentsline {table}{\numberline {4.1}{\ignorespaces Parameters to light the blue LED in Xcos\relax }}{77}%
-\contentsline {table}{\numberline {4.2}{\ignorespaces Parameters to light the blue LED in Xcos for two seconds\relax }}{78}%
-\contentsline {table}{\numberline {4.3}{\ignorespaces Parameters to turn the blue and red LEDs on and then turn them off one by one\relax }}{79}%
-\contentsline {table}{\numberline {4.4}{\ignorespaces Parameters to make the green LED blink every second\relax }}{80}%
+\contentsline {table}{\numberline {4.1}{\ignorespaces Parameters to light the blue LED in Xcos\relax }}{77}{table.caption.78}
+\contentsline {table}{\numberline {4.2}{\ignorespaces Parameters to light the blue LED in Xcos for two seconds\relax }}{78}{table.caption.80}
+\contentsline {table}{\numberline {4.3}{\ignorespaces Parameters to turn the blue and red LEDs on and then turn them off one by one\relax }}{79}{table.caption.82}
+\contentsline {table}{\numberline {4.4}{\ignorespaces Parameters to make the green LED blink every second\relax }}{80}{table.caption.84}
 \addvspace {10\p@ }
-\contentsline {table}{\numberline {5.1}{\ignorespaces Parameters to print the push button status on the display block\relax }}{103}%
-\contentsline {table}{\numberline {5.2}{\ignorespaces Xcos parameters to turn the LED on through the pushbutton\relax }}{104}%
+\contentsline {table}{\numberline {5.1}{\ignorespaces Parameters to print the push button status on the display block\relax }}{103}{table.caption.90}
+\contentsline {table}{\numberline {5.2}{\ignorespaces Xcos parameters to turn the LED on through the pushbutton\relax }}{104}{table.caption.92}
 \addvspace {10\p@ }
-\contentsline {table}{\numberline {6.1}{\ignorespaces Xcos parameters to read LDR\relax }}{124}%
-\contentsline {table}{\numberline {6.2}{\ignorespaces Xcos parameters to read LDR and regulate blue LED\relax }}{126}%
+\contentsline {table}{\numberline {6.1}{\ignorespaces Xcos parameters to read LDR\relax }}{124}{table.caption.99}
+\contentsline {table}{\numberline {6.2}{\ignorespaces Xcos parameters to read LDR and regulate blue LED\relax }}{126}{table.caption.102}
 \addvspace {10\p@ }
-\contentsline {table}{\numberline {7.1}{\ignorespaces Xcos parameters to turn on different LEDs depending on the potentiometer value\relax }}{142}%
+\contentsline {table}{\numberline {7.1}{\ignorespaces Xcos parameters to turn on different LEDs depending on the potentiometer value\relax }}{142}{table.caption.106}
 \addvspace {10\p@ }
-\contentsline {table}{\numberline {8.1}{\ignorespaces Xcos parameters to read thermistor\relax }}{160}%
-\contentsline {table}{\numberline {8.2}{\ignorespaces Xcos parameters to read thermistor and switch the buzzer\relax }}{162}%
+\contentsline {table}{\numberline {8.1}{\ignorespaces Xcos parameters to read thermistor\relax }}{160}{table.caption.114}
+\contentsline {table}{\numberline {8.2}{\ignorespaces Xcos parameters to read thermistor and switch the buzzer\relax }}{162}{table.caption.117}
 \addvspace {10\p@ }
-\contentsline {table}{\numberline {9.1}{\ignorespaces Connecting a typical servomotor to Arduino Uno\ board\relax }}{174}%
-\contentsline {table}{\numberline {9.2}{\ignorespaces Parameters to rotate the servomotor by $30^\circ $\relax }}{183}%
-\contentsline {table}{\numberline {9.3}{\ignorespaces Parameters to rotate the servomotor forward and reverse\relax }}{185}%
-\contentsline {table}{\numberline {9.4}{\ignorespaces Parameters to make the servomotor to sweep the entire range in increments\relax }}{186}%
-\contentsline {table}{\numberline {9.5}{\ignorespaces Parameters to rotate the servomotor based on the input from the potentiometer\relax }}{187}%
+\contentsline {table}{\numberline {9.1}{\ignorespaces Connecting a typical servomotor to Arduino Uno\ board\relax }}{174}{table.caption.124}
+\contentsline {table}{\numberline {9.2}{\ignorespaces Parameters to rotate the servomotor by $30^\circ $\relax }}{183}{table.caption.128}
+\contentsline {table}{\numberline {9.3}{\ignorespaces Parameters to rotate the servomotor forward and reverse\relax }}{185}{table.caption.130}
+\contentsline {table}{\numberline {9.4}{\ignorespaces Parameters to make the servomotor to sweep the entire range in increments\relax }}{186}{table.caption.132}
+\contentsline {table}{\numberline {9.5}{\ignorespaces Parameters to rotate the servomotor based on the input from the potentiometer\relax }}{187}{table.caption.134}
 \addvspace {10\p@ }
-\contentsline {table}{\numberline {10.1}{\ignorespaces Values in the Scilab\ command for different H-Bridge circuits\relax }}{210}%
-\contentsline {table}{\numberline {10.2}{\ignorespaces Xcos parameters to drive the DC motor for a specified time\relax }}{214}%
-\contentsline {table}{\numberline {10.3}{\ignorespaces Xcos parameters to drive the DC motor in forward and reverse directions\relax }}{215}%
-\contentsline {table}{\numberline {10.4}{\ignorespaces Xcos parameters to drive the DC motor in a loop\relax }}{217}%
+\contentsline {table}{\numberline {10.1}{\ignorespaces Values in the Scilab\ command for different H-Bridge circuits\relax }}{210}{table.caption.141}
+\contentsline {table}{\numberline {10.2}{\ignorespaces Xcos parameters to drive the DC motor for a specified time\relax }}{214}{table.caption.144}
+\contentsline {table}{\numberline {10.3}{\ignorespaces Xcos parameters to drive the DC motor in forward and reverse directions\relax }}{215}{table.caption.146}
+\contentsline {table}{\numberline {10.4}{\ignorespaces Xcos parameters to drive the DC motor in a loop\relax }}{217}{table.caption.148}
 \addvspace {10\p@ }
-\contentsline {table}{\numberline {11.1}{\ignorespaces Pins available on RS485 and their usage\relax }}{233}%
-\contentsline {table}{\numberline {11.2}{\ignorespaces Operations supported by Modbus RTU\relax }}{234}%
-\contentsline {table}{\numberline {11.3}{\ignorespaces Individual parameter address in EM6400\relax }}{234}%
-\contentsline {table}{\numberline {11.4}{\ignorespaces A request packet to access V1 in EM6400\relax }}{235}%
-\contentsline {table}{\numberline {11.5}{\ignorespaces A response packet to access V1 in EM6400\relax }}{236}%
-\contentsline {table}{\numberline {11.6}{\ignorespaces Memory storage of a four-byte integer in little-endian and big-endian\relax }}{237}%
-\contentsline {table}{\numberline {11.7}{\ignorespaces Xcos parameters to read Energy Meter\relax }}{248}%
+\contentsline {table}{\numberline {11.1}{\ignorespaces Pins available on RS485 and their usage\relax }}{233}{table.caption.157}
+\contentsline {table}{\numberline {11.2}{\ignorespaces Operations supported by Modbus RTU\relax }}{234}{table.caption.159}
+\contentsline {table}{\numberline {11.3}{\ignorespaces Individual parameter address in EM6400\relax }}{234}{table.caption.160}
+\contentsline {table}{\numberline {11.4}{\ignorespaces A request packet to access V1 in EM6400\relax }}{235}{table.caption.162}
+\contentsline {table}{\numberline {11.5}{\ignorespaces A response packet to access V1 in EM6400\relax }}{236}{table.caption.163}
+\contentsline {table}{\numberline {11.6}{\ignorespaces Memory storage of a four-byte integer in little-endian and big-endian\relax }}{237}{table.caption.164}
+\contentsline {table}{\numberline {11.7}{\ignorespaces Xcos parameters to read Energy Meter\relax }}{248}{table.caption.176}
diff --git a/floss-arduino.out b/floss-arduino.out
new file mode 100644
index 0000000..c4759a9
--- /dev/null
+++ b/floss-arduino.out
@@ -0,0 +1,203 @@
+\BOOKMARK [0][-]{chapter*.2}{}{}% 1
+\BOOKMARK [0][-]{chapter*.3}{}{}% 2
+\BOOKMARK [0][-]{chapter*.4}{}{}% 3
+\BOOKMARK [0][-]{chapter*.5}{}{}% 4
+\BOOKMARK [0][-]{chapter*.6}{}{}% 5
+\BOOKMARK [0][-]{chapter*.7}{}{}% 6
+\BOOKMARK [0][-]{chapter*.8}{}{}% 7
+\BOOKMARK [0][-]{chapter*.9}{}{}% 8
+\BOOKMARK [0][-]{chapter.1}{Introduction}{}% 9
+\BOOKMARK [0][-]{chapter.2}{Hardware Environment}{}% 10
+\BOOKMARK [1][-]{section.2.1}{Microcontroller}{chapter.2}% 11
+\BOOKMARK [2][-]{subsection.2.1.1}{Organization of a Microcontroller}{section.2.1}% 12
+\BOOKMARK [2][-]{subsection.2.1.2}{Microcontroller Peripherals}{section.2.1}% 13
+\BOOKMARK [1][-]{section.2.2}{Open Source Hardware \(OSHW\)}{chapter.2}% 14
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+\BOOKMARK [2][-]{subsection.2.3.3}{Popular Arduino Projects}{section.2.3}% 18
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+\BOOKMARK [0][-]{chapter.3}{Communication between Software and Arduino}{}% 21
+\BOOKMARK [1][-]{section.3.1}{Arduino IDE}{chapter.3}% 22
+\BOOKMARK [2][-]{subsection.3.1.1}{Downloading and installing on Windows}{section.3.1}% 23
+\BOOKMARK [2][-]{subsection.3.1.2}{Downloading and installing on GNU/Linux Ubuntu}{section.3.1}% 24
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+\BOOKMARK [2][-]{subsection.3.1.4}{Testing Arduino with a sample program}{section.3.1}% 26
+\BOOKMARK [2][-]{subsection.3.1.5}{FLOSS Firmware}{section.3.1}% 27
+\BOOKMARK [1][-]{section.3.2}{Scilab}{chapter.3}% 28
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+\BOOKMARK [2][-]{subsection.3.2.2}{Downloading and installing on GNU/Linux Ubuntu}{section.3.2}% 30
+\BOOKMARK [2][-]{subsection.3.2.3}{Scilab-Arduino toolbox}{section.3.2}% 31
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+\BOOKMARK [2][-]{subsection.3.2.5}{Testing Scilab-Arduino toolbox}{section.3.2}% 33
+\BOOKMARK [2][-]{subsection.3.2.6}{Firmware}{section.3.2}% 34
+\BOOKMARK [1][-]{section.3.3}{Xcos}{chapter.3}% 35
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+\BOOKMARK [2][-]{subsection.3.3.2}{Use case}{section.3.3}% 37
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+\BOOKMARK [2][-]{subsection.3.4.2}{Downloading and installing on GNU/Linux Ubuntu}{section.3.4}% 41
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+\BOOKMARK [2][-]{subsection.3.6.2}{Downloading and installing on GNU/Linux Ubuntu}{section.3.6}% 51
+\BOOKMARK [2][-]{subsection.3.6.3}{Simulating models in OpenModelica}{section.3.6}% 52
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+\BOOKMARK [0][-]{chapter.4}{Interfacing a Light Emitting Diode}{}% 55
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+\BOOKMARK [2][-]{subsection.8.6.2}{Python Code}{section.8.6}% 143
+\BOOKMARK [1][-]{section.8.7}{Interfacing the thermistor from Julia}{chapter.8}% 144
+\BOOKMARK [2][-]{subsection.8.7.1}{Interfacing the thermistor}{section.8.7}% 145
+\BOOKMARK [2][-]{subsection.8.7.2}{Julia Code}{section.8.7}% 146
+\BOOKMARK [1][-]{section.8.8}{Interfacing the thermistor from OpenModelica}{chapter.8}% 147
+\BOOKMARK [2][-]{subsection.8.8.1}{Interfacing the thermistor}{section.8.8}% 148
+\BOOKMARK [2][-]{subsection.8.8.2}{OpenModelica Code}{section.8.8}% 149
+\BOOKMARK [0][-]{chapter.9}{Interfacing a Servomotor}{}% 150
+\BOOKMARK [1][-]{section.9.1}{Preliminaries}{chapter.9}% 151
+\BOOKMARK [1][-]{section.9.2}{Connecting a servomotor with Arduino Uno using a breadboard}{chapter.9}% 152
+\BOOKMARK [1][-]{section.9.3}{Controlling the servomotor through the Arduino IDE}{chapter.9}% 153
+\BOOKMARK [2][-]{subsection.9.3.1}{Controlling the servomotor}{section.9.3}% 154
+\BOOKMARK [2][-]{subsection.9.3.2}{Arduino Code}{section.9.3}% 155
+\BOOKMARK [1][-]{section.9.4}{Controlling the servomotor through Scilab}{chapter.9}% 156
+\BOOKMARK [2][-]{subsection.9.4.1}{Controlling the servomotor}{section.9.4}% 157
+\BOOKMARK [2][-]{subsection.9.4.2}{Scilab Code}{section.9.4}% 158
+\BOOKMARK [1][-]{section.9.5}{Controling the servomotor through Xcos}{chapter.9}% 159
+\BOOKMARK [1][-]{section.9.6}{Controlling the servomotor through Python}{chapter.9}% 160
+\BOOKMARK [2][-]{subsection.9.6.1}{Controlling the servomotor}{section.9.6}% 161
+\BOOKMARK [2][-]{subsection.9.6.2}{Python Code}{section.9.6}% 162
+\BOOKMARK [1][-]{section.9.7}{Controlling the servomotor through Julia}{chapter.9}% 163
+\BOOKMARK [2][-]{subsection.9.7.1}{Controlling the servomotor}{section.9.7}% 164
+\BOOKMARK [2][-]{subsection.9.7.2}{Julia Code}{section.9.7}% 165
+\BOOKMARK [1][-]{section.9.8}{Controlling the servomotor through OpenModelica}{chapter.9}% 166
+\BOOKMARK [2][-]{subsection.9.8.1}{Controlling the servomotor}{section.9.8}% 167
+\BOOKMARK [2][-]{subsection.9.8.2}{OpenModelica Code}{section.9.8}% 168
+\BOOKMARK [0][-]{chapter.10}{Interfacing a DC Motor}{}% 169
+\BOOKMARK [1][-]{section.10.1}{Preliminaries}{chapter.10}% 170
+\BOOKMARK [1][-]{section.10.2}{Controlling the DC motor from Arduino}{chapter.10}% 171
+\BOOKMARK [2][-]{subsection.10.2.1}{Controlling the DC motor}{section.10.2}% 172
+\BOOKMARK [2][-]{subsection.10.2.2}{Arduino Code}{section.10.2}% 173
+\BOOKMARK [1][-]{section.10.3}{Controlling the DC motor from Scilab}{chapter.10}% 174
+\BOOKMARK [2][-]{subsection.10.3.1}{Controlling the DC motor}{section.10.3}% 175
+\BOOKMARK [2][-]{subsection.10.3.2}{Scilab Code}{section.10.3}% 176
+\BOOKMARK [1][-]{section.10.4}{Controlling the DC motor from Xcos}{chapter.10}% 177
+\BOOKMARK [1][-]{section.10.5}{Controlling the DC motor from Python}{chapter.10}% 178
+\BOOKMARK [2][-]{subsection.10.5.1}{Controlling the DC motor}{section.10.5}% 179
+\BOOKMARK [2][-]{subsection.10.5.2}{Python Code}{section.10.5}% 180
+\BOOKMARK [1][-]{section.10.6}{Controlling the DC motor from Julia}{chapter.10}% 181
+\BOOKMARK [2][-]{subsection.10.6.1}{Controlling the DC motor}{section.10.6}% 182
+\BOOKMARK [2][-]{subsection.10.6.2}{Julia Code}{section.10.6}% 183
+\BOOKMARK [1][-]{section.10.7}{Controlling the DC motor from OpenModelica}{chapter.10}% 184
+\BOOKMARK [2][-]{subsection.10.7.1}{Controlling the DC motor}{section.10.7}% 185
+\BOOKMARK [2][-]{subsection.10.7.2}{OpenModelica Code}{section.10.7}% 186
+\BOOKMARK [0][-]{chapter.11}{Implementation of Modbus Protocol}{}% 187
+\BOOKMARK [1][-]{section.11.1}{Preliminaries}{chapter.11}% 188
+\BOOKMARK [2][-]{subsection.11.1.1}{Energy meter}{section.11.1}% 189
+\BOOKMARK [2][-]{subsection.11.1.2}{Endianness}{section.11.1}% 190
+\BOOKMARK [1][-]{section.11.2}{Objective}{chapter.11}% 191
+\BOOKMARK [1][-]{section.11.3}{Manifestation of Modbus protocol with Arduino Uno and energy meter}{chapter.11}% 192
+\BOOKMARK [2][-]{subsection.11.3.1}{Software}{section.11.3}% 193
+\BOOKMARK [2][-]{subsection.11.3.2}{Output in the Scilab Console}{section.11.3}% 194
+\BOOKMARK [1][-]{section.11.4}{Accessing the electrical parameters from Scilab}{chapter.11}% 195
+\BOOKMARK [2][-]{subsection.11.4.1}{Accessing the electrical parameters}{section.11.4}% 196
+\BOOKMARK [2][-]{subsection.11.4.2}{Arduino Firmware}{section.11.4}% 197
+\BOOKMARK [2][-]{subsection.11.4.3}{Scilab Code}{section.11.4}% 198
+\BOOKMARK [1][-]{section.11.5}{Reading Parameters from Xcos}{chapter.11}% 199
+\BOOKMARK [2][-]{subsection.11.5.1}{Python Code}{section.11.5}% 200
+\BOOKMARK [2][-]{subsection.11.5.2}{Julia Code}{section.11.5}% 201
+\BOOKMARK [2][-]{subsection.11.5.3}{OpenModelica Code}{section.11.5}% 202
+\BOOKMARK [0][-]{chapter*.177}{}{}% 203
diff --git a/floss-arduino.pdf b/floss-arduino.pdf
index 271345a..c480da6 100644
--- a/floss-arduino.pdf
+++ b/floss-arduino.pdf
diff --git a/floss-arduino.pyd b/floss-arduino.pyd
index 72b0a3e..bf23c87 100644
--- a/floss-arduino.pyd
+++ b/floss-arduino.pyd
@@ -1,31 +1,31 @@
 \addvspace {10pt}
-\contentsline {section}{\numberline {3.{1}}A Python script to check whether the firmware is properly installed or not}{46}%
+\contentsline {section}{\numberline {3.{1}}A Python script to check whether the firmware is properly installed or not}{46}{pymass.3.1}
 \addvspace {10pt}
-\contentsline {section}{\numberline {4.{1}}Turning on the blue LED}{83}%
-\contentsline {section}{\numberline {4.{2}}Turning on the blue LED and turning it off after two seconds}{83}%
-\contentsline {section}{\numberline {4.{3}}Turning on blue and red LEDs for 5 seconds and then turning them off one by one}{84}%
-\contentsline {section}{\numberline {4.{4}}Blinking the green LED}{85}%
+\contentsline {section}{\numberline {4.{1}}Turning on the blue LED}{83}{pymass.4.1}
+\contentsline {section}{\numberline {4.{2}}Turning on the blue LED and turning it off after two seconds}{83}{pymass.4.2}
+\contentsline {section}{\numberline {4.{3}}Turning on blue and red LEDs for 5 seconds and then turning them off one by one}{84}{pymass.4.3}
+\contentsline {section}{\numberline {4.{4}}Blinking the green LED}{85}{pymass.4.4}
 \addvspace {10pt}
-\contentsline {section}{\numberline {5.{1}}Read the status of the pushbutton and display it on the Command Prompt or the Terminal}{106}%
-\contentsline {section}{\numberline {5.{2}}Turning the LED on or off depending on the pushbutton}{107}%
+\contentsline {section}{\numberline {5.{1}}Read the status of the pushbutton and display it on the Command Prompt or the Terminal}{106}{pymass.5.1}
+\contentsline {section}{\numberline {5.{2}}Turning the LED on or off depending on the pushbutton}{107}{pymass.5.2}
 \addvspace {10pt}
-\contentsline {section}{\numberline {6.{1}}Read and display the LDR values}{127}%
-\contentsline {section}{\numberline {6.{2}}Turning the red LED on and off}{128}%
+\contentsline {section}{\numberline {6.{1}}Read and display the LDR values}{127}{pymass.6.1}
+\contentsline {section}{\numberline {6.{2}}Turning the red LED on and off}{128}{pymass.6.2}
 \addvspace {10pt}
-\contentsline {section}{\numberline {7.{1}}Turning on LEDs depending on the potentiometer threshold}{143}%
+\contentsline {section}{\numberline {7.{1}}Turning on LEDs depending on the potentiometer threshold}{143}{pymass.7.1}
 \addvspace {10pt}
-\contentsline {section}{\numberline {8.{1}}Read and display the thermistor values}{164}%
-\contentsline {section}{\numberline {8.{2}}Turning the buzzer on using thermistor values}{165}%
+\contentsline {section}{\numberline {8.{1}}Read and display the thermistor values}{165}{pymass.8.1}
+\contentsline {section}{\numberline {8.{2}}Turning the buzzer on using thermistor values}{165}{pymass.8.2}
 \addvspace {10pt}
-\contentsline {section}{\numberline {9.{1}}Rotating the servomotor to a specified degree}{189}%
-\contentsline {section}{\numberline {9.{2}}Rotating the servomotor to a specified degree and reversing}{190}%
-\contentsline {section}{\numberline {9.{3}}Rotating the servomotor in steps of $20^\circ $}{191}%
-\contentsline {section}{\numberline {9.{4}}Rotating the servomotor to a degree specified by the potentiometer}{192}%
+\contentsline {section}{\numberline {9.{1}}Rotating the servomotor to a specified degree}{189}{pymass.9.1}
+\contentsline {section}{\numberline {9.{2}}Rotating the servomotor to a specified degree and reversing}{190}{pymass.9.2}
+\contentsline {section}{\numberline {9.{3}}Rotating the servomotor in steps of $20^\circ $}{191}{pymass.9.3}
+\contentsline {section}{\numberline {9.{4}}Rotating the servomotor to a degree specified by the potentiometer}{192}{pymass.9.4}
 \addvspace {10pt}
-\contentsline {section}{\numberline {10.{1}}Rotating the DC motor}{219}%
-\contentsline {section}{\numberline {10.{2}}Rotating the DC motor in both directions}{220}%
-\contentsline {section}{\numberline {10.{3}}Rotating the DC motor in both directions in a loop}{221}%
+\contentsline {section}{\numberline {10.{1}}Rotating the DC motor}{219}{pymass.10.1}
+\contentsline {section}{\numberline {10.{2}}Rotating the DC motor in both directions}{220}{pymass.10.2}
+\contentsline {section}{\numberline {10.{3}}Rotating the DC motor in both directions in a loop}{221}{pymass.10.3}
 \addvspace {10pt}
-\contentsline {section}{\numberline {11.{1}}Code for Single Phase Current Output}{249}%
-\contentsline {section}{\numberline {11.{2}}Code for Single Phase Voltage Output}{249}%
-\contentsline {section}{\numberline {11.{3}}Code for Single Phase Active Power Output}{249}%
+\contentsline {section}{\numberline {11.{1}}Code for Single Phase Current Output}{249}{pymass.11.1}
+\contentsline {section}{\numberline {11.{2}}Code for Single Phase Voltage Output}{249}{pymass.11.2}
+\contentsline {section}{\numberline {11.{3}}Code for Single Phase Active Power Output}{249}{pymass.11.3}
diff --git a/floss-arduino.synctex.gz b/floss-arduino.synctex.gz
deleted file mode 100644
index 9133aa8..0000000
--- a/floss-arduino.synctex.gz
+++ /dev/null
diff --git a/floss-arduino.tex b/floss-arduino.tex
index 203ea26..2522e9f 100644
--- a/floss-arduino.tex
+++ b/floss-arduino.tex
@@ -8,13 +8,13 @@
 %\newcommand{\Origin}{/home/fossee/Desktop/scilab-arduino-final/scilab-arduino}
 %\newcommand{\Home}{/home/fossee/Desktop/scilab-arduino-final/scilab-arduino}
 
-% \newcommand{\Home}
-% {/Users/kannan/FOSS/scilab-arduino/floss-arduino-clone}
-% \newcommand{\Origin}
-% {/Users/kannan/FOSS/scilab-arduino/floss-arduino-clone}
+\newcommand{\Home}
+{/Users/kannan/FOSS/scilab-arduino/floss-arduino-clone}
+\newcommand{\Origin}
+{/Users/kannan/FOSS/scilab-arduino/floss-arduino-clone}
 
-\newcommand{\Home}{/home/fossee/Desktop/floss-scilab-arduino}
-\newcommand{\Origin}{/home/fossee/Desktop/floss-scilab-arduino}
+%\newcommand{\Home}{/home/fossee/Desktop/floss-scilab-arduino}
+%\newcommand{\Origin}{/home/fossee/Desktop/floss-scilab-arduino}
 
 
 
@@ -31,8 +31,9 @@
 \usepackage{fancyhdr}
 \pagestyle{headings}
 \usepackage{amsmath,graphicx,makeidx}
-\usepackage{fancybox,url}
+\usepackage{fancybox}
 \usepackage{cite}
+\usepackage{hyperref}
 %\usepackage{appendix}
 \counterwithout{footnote}{chapter}
 \usepackage{subfig}
@@ -105,6 +106,14 @@
 \hyphenation{Ashu-tosh pr-ess}
 
 \makeindex
+
+% Comment one of the next two lines
+\def\EntireReport{} %% EntireReport is set to true
+% \let\EntireReport\undefined %% EntireReport is set to false
+% If the entire report is not prepared, choose one of scilab, python,
+% julia, or OM
+\newcommand{\Software}{OM}
+
 \begin{document}
 \pagestyle{plain}
 \pagestyle{empty}
@@ -137,14 +146,78 @@
 \input{suppl/intro.tex}
 \input{user-code/hw-env/hw-env.tex}
 \input{user-code/sw-env/sw-env.tex}
-\input{user-code/led/led.tex}
-\input{user-code/push/push.tex}
-\input{user-code/ldr/ldr.tex}
-\input{user-code/pot/pot.tex}
-\input{user-code/thermistor/thermistor.tex}
-\input{user-code/servo/servo.tex}
-\input{user-code/dcmotor/dcmotor.tex}
+
+\ifdefined\EntireReport
+
+\input{user-code/led/led-base.tex}
+\input{user-code/led/led-scilab.tex}
+\input{user-code/led/led-python.tex}
+\input{user-code/led/led-julia.tex}
+\input{user-code/led/led-OM.tex}
+
+\input{user-code/push/push-base.tex}
+\input{user-code/push/push-scilab.tex}
+\input{user-code/push/push-python.tex}
+\input{user-code/push/push-julia.tex}
+\input{user-code/push/push-OM.tex}
+
+\input{user-code/ldr/ldr-base.tex}
+\input{user-code/ldr/ldr-scilab.tex}
+\input{user-code/ldr/ldr-python.tex}
+\input{user-code/ldr/ldr-julia.tex}
+\input{user-code/ldr/ldr-OM.tex}
+
+\input{user-code/pot/pot-base.tex}
+\input{user-code/pot/pot-scilab.tex}
+\input{user-code/pot/pot-python.tex}
+\input{user-code/pot/pot-julia.tex}
+\input{user-code/pot/pot-OM.tex}
+
+\input{user-code/thermistor/thermistor-base.tex}
+\input{user-code/thermistor/thermistor-scilab.tex}
+\input{user-code/thermistor/thermistor-python.tex}
+\input{user-code/thermistor/thermistor-julia.tex}
+\input{user-code/thermistor/thermistor-OM.tex}
+
+\input{user-code/servo/servo-base.tex}
+\input{user-code/servo/servo-scilab.tex}
+\input{user-code/servo/servo-python.tex}
+\input{user-code/servo/servo-julia.tex}
+\input{user-code/servo/servo-OM.tex}
+
+\input{user-code/dcmotor/dcmotor-base.tex}
+\input{user-code/dcmotor/dcmotor-scilab.tex}
+\input{user-code/dcmotor/dcmotor-python.tex}
+\input{user-code/dcmotor/dcmotor-julia.tex}
+\input{user-code/dcmotor/dcmotor-OM.tex}
+
+\else 
+
+\input{user-code/led/led-base.tex}
+\input{user-code/led/led-\Software.tex}
+
+\input{user-code/push/push-base.tex}
+\input{user-code/push/push-\Software.tex}
+
+\input{user-code/ldr/ldr-base.tex}
+\input{user-code/ldr/ldr-\Software.tex}
+
+\input{user-code/pot/pot-base.tex}
+\input{user-code/pot/pot-\Software.tex}
+
+\input{user-code/thermistor/thermistor-base.tex}
+\input{user-code/thermistor/thermistor-\Software.tex}
+
+\input{user-code/servo/servo-base.tex}
+\input{user-code/servo/servo-\Software.tex}
+
+\input{user-code/dcmotor/dcmotor-base.tex}
+\input{user-code/dcmotor/dcmotor-\Software.tex}
+
+\fi
+
 \input{user-code/modbus/modbus.tex}
+
 %\input{texfiles/servo.tex}
 %\input{texfiles/Appendix.tex}
 %\appendix
diff --git a/floss-arduino.thm b/floss-arduino.thm
index e3f6c11..dbaf7a6 100644
--- a/floss-arduino.thm
+++ b/floss-arduino.thm
@@ -1,125 +1,125 @@
-\contentsline {ardmass}{{Arduino Code}{3.{1}}{}}{25}%
-\contentsline {codemass}{{Scilab Code}{3.{1}}{}}{34}%
-\contentsline {pymass}{{Python Code}{3.{1}}{}}{46}%
-\contentsline {juliamass}{{Julia Code}{3.{1}}{}}{55}%
-\contentsline {OpenModelicamass}{{OpenModelica Code}{3.{1}}{}}{65}%
-\contentsline {egmass}{{Exercise}{4.{1}}{}}{71}%
-\contentsline {ardmass}{{Arduino Code}{4.{1}}{}}{72}%
-\contentsline {ardmass}{{Arduino Code}{4.{2}}{}}{72}%
-\contentsline {ardmass}{{Arduino Code}{4.{3}}{}}{73}%
-\contentsline {ardmass}{{Arduino Code}{4.{4}}{}}{73}%
-\contentsline {egmass}{{Exercise}{4.{2}}{}}{75}%
-\contentsline {codemass}{{Scilab Code}{4.{1}}{}}{75}%
-\contentsline {codemass}{{Scilab Code}{4.{2}}{}}{76}%
-\contentsline {codemass}{{Scilab Code}{4.{3}}{}}{76}%
-\contentsline {codemass}{{Scilab Code}{4.{4}}{}}{76}%
-\contentsline {egmass}{{Exercise}{4.{3}}{}}{80}%
-\contentsline {egmass}{{Exercise}{4.{4}}{}}{82}%
-\contentsline {pymass}{{Python Code}{4.{1}}{}}{83}%
-\contentsline {pymass}{{Python Code}{4.{2}}{}}{83}%
-\contentsline {pymass}{{Python Code}{4.{3}}{}}{84}%
-\contentsline {pymass}{{Python Code}{4.{4}}{}}{85}%
-\contentsline {juliamass}{{Julia Code}{4.{1}}{}}{87}%
-\contentsline {juliamass}{{Julia Code}{4.{2}}{}}{88}%
-\contentsline {juliamass}{{Julia Code}{4.{3}}{}}{88}%
-\contentsline {juliamass}{{Julia Code}{4.{4}}{}}{88}%
-\contentsline {OpenModelicamass}{{OpenModelica Code}{4.{1}}{}}{91}%
-\contentsline {OpenModelicamass}{{OpenModelica Code}{4.{2}}{}}{91}%
-\contentsline {OpenModelicamass}{{OpenModelica Code}{4.{3}}{}}{92}%
-\contentsline {OpenModelicamass}{{OpenModelica Code}{4.{4}}{}}{93}%
-\contentsline {ardmass}{{Arduino Code}{5.{1}}{}}{99}%
-\contentsline {ardmass}{{Arduino Code}{5.{2}}{}}{99}%
-\contentsline {codemass}{{Scilab Code}{5.{1}}{}}{101}%
-\contentsline {codemass}{{Scilab Code}{5.{2}}{}}{102}%
-\contentsline {egmass}{{Exercise}{5.{1}}{}}{104}%
-\contentsline {pymass}{{Python Code}{5.{1}}{}}{106}%
-\contentsline {pymass}{{Python Code}{5.{2}}{}}{107}%
-\contentsline {juliamass}{{Julia Code}{5.{1}}{}}{109}%
-\contentsline {juliamass}{{Julia Code}{5.{2}}{}}{109}%
-\contentsline {OpenModelicamass}{{OpenModelica Code}{5.{1}}{}}{111}%
-\contentsline {OpenModelicamass}{{OpenModelica Code}{5.{2}}{}}{112}%
-\contentsline {egmass}{{Exercise}{6.{1}}{}}{119}%
-\contentsline {ardmass}{{Arduino Code}{6.{1}}{}}{120}%
-\contentsline {ardmass}{{Arduino Code}{6.{2}}{}}{120}%
-\contentsline {egmass}{{Exercise}{6.{2}}{}}{121}%
-\contentsline {codemass}{{Scilab Code}{6.{1}}{}}{122}%
-\contentsline {codemass}{{Scilab Code}{6.{2}}{}}{122}%
-\contentsline {egmass}{{Exercise}{6.{3}}{}}{127}%
-\contentsline {pymass}{{Python Code}{6.{1}}{}}{127}%
-\contentsline {pymass}{{Python Code}{6.{2}}{}}{128}%
-\contentsline {egmass}{{Exercise}{6.{4}}{}}{130}%
-\contentsline {juliamass}{{Julia Code}{6.{1}}{}}{130}%
-\contentsline {juliamass}{{Julia Code}{6.{2}}{}}{131}%
-\contentsline {OpenModelicamass}{{OpenModelica Code}{6.{1}}{}}{132}%
-\contentsline {OpenModelicamass}{{OpenModelica Code}{6.{2}}{}}{133}%
-\contentsline {ardmass}{{Arduino Code}{7.{1}}{}}{138}%
-\contentsline {codemass}{{Scilab Code}{7.{1}}{}}{140}%
-\contentsline {egmass}{{Exercise}{7.{1}}{}}{142}%
-\contentsline {pymass}{{Python Code}{7.{1}}{}}{143}%
-\contentsline {juliamass}{{Julia Code}{7.{1}}{}}{145}%
-\contentsline {OpenModelicamass}{{OpenModelica Code}{7.{1}}{}}{147}%
-\contentsline {egmass}{{Exercise}{8.{1}}{}}{154}%
-\contentsline {ardmass}{{Arduino Code}{8.{1}}{}}{154}%
-\contentsline {ardmass}{{Arduino Code}{8.{2}}{}}{155}%
-\contentsline {egmass}{{Exercise}{8.{2}}{}}{157}%
-\contentsline {codemass}{{Scilab Code}{8.{1}}{}}{158}%
-\contentsline {codemass}{{Scilab Code}{8.{2}}{}}{158}%
-\contentsline {pymass}{{Python Code}{8.{1}}{}}{164}%
-\contentsline {pymass}{{Python Code}{8.{2}}{}}{165}%
-\contentsline {juliamass}{{Julia Code}{8.{1}}{}}{168}%
-\contentsline {juliamass}{{Julia Code}{8.{2}}{}}{168}%
-\contentsline {OpenModelicamass}{{OpenModelica Code}{8.{1}}{}}{171}%
-\contentsline {OpenModelicamass}{{OpenModelica Code}{8.{2}}{}}{171}%
-\contentsline {egmass}{{Exercise}{9.{1}}{}}{178}%
-\contentsline {ardmass}{{Arduino Code}{9.{1}}{}}{178}%
-\contentsline {ardmass}{{Arduino Code}{9.{2}}{}}{179}%
-\contentsline {ardmass}{{Arduino Code}{9.{3}}{}}{179}%
-\contentsline {ardmass}{{Arduino Code}{9.{4}}{}}{179}%
-\contentsline {codemass}{{Scilab Code}{9.{1}}{}}{182}%
-\contentsline {codemass}{{Scilab Code}{9.{2}}{}}{182}%
-\contentsline {codemass}{{Scilab Code}{9.{3}}{}}{182}%
-\contentsline {codemass}{{Scilab Code}{9.{4}}{}}{183}%
-\contentsline {pymass}{{Python Code}{9.{1}}{}}{189}%
-\contentsline {pymass}{{Python Code}{9.{2}}{}}{190}%
-\contentsline {pymass}{{Python Code}{9.{3}}{}}{191}%
-\contentsline {pymass}{{Python Code}{9.{4}}{}}{192}%
-\contentsline {juliamass}{{Julia Code}{9.{1}}{}}{195}%
-\contentsline {juliamass}{{Julia Code}{9.{2}}{}}{195}%
-\contentsline {juliamass}{{Julia Code}{9.{3}}{}}{195}%
-\contentsline {juliamass}{{Julia Code}{9.{4}}{}}{196}%
-\contentsline {OpenModelicamass}{{OpenModelica Code}{9.{1}}{}}{198}%
-\contentsline {OpenModelicamass}{{OpenModelica Code}{9.{2}}{}}{199}%
-\contentsline {OpenModelicamass}{{OpenModelica Code}{9.{3}}{}}{199}%
-\contentsline {OpenModelicamass}{{OpenModelica Code}{9.{4}}{}}{200}%
-\contentsline {egmass}{{Exercise}{10.{1}}{}}{207}%
-\contentsline {ardmass}{{Arduino Code}{10.{1}}{}}{208}%
-\contentsline {ardmass}{{Arduino Code}{10.{2}}{}}{208}%
-\contentsline {ardmass}{{Arduino Code}{10.{3}}{}}{209}%
-\contentsline {egmass}{{Exercise}{10.{2}}{}}{212}%
-\contentsline {codemass}{{Scilab Code}{10.{1}}{}}{212}%
-\contentsline {codemass}{{Scilab Code}{10.{2}}{}}{212}%
-\contentsline {codemass}{{Scilab Code}{10.{3}}{}}{213}%
-\contentsline {egmass}{{Exercise}{10.{3}}{}}{216}%
-\contentsline {pymass}{{Python Code}{10.{1}}{}}{219}%
-\contentsline {pymass}{{Python Code}{10.{2}}{}}{220}%
-\contentsline {pymass}{{Python Code}{10.{3}}{}}{221}%
-\contentsline {juliamass}{{Julia Code}{10.{1}}{}}{224}%
-\contentsline {juliamass}{{Julia Code}{10.{2}}{}}{225}%
-\contentsline {juliamass}{{Julia Code}{10.{3}}{}}{225}%
-\contentsline {OpenModelicamass}{{OpenModelica Code}{10.{1}}{}}{228}%
-\contentsline {OpenModelicamass}{{OpenModelica Code}{10.{2}}{}}{229}%
-\contentsline {OpenModelicamass}{{OpenModelica Code}{10.{3}}{}}{229}%
-\contentsline {ardmass}{{Arduino Code}{11.{1}}{}}{245}%
-\contentsline {codemass}{{Scilab Code}{11.{1}}{}}{246}%
-\contentsline {codemass}{{Scilab Code}{11.{2}}{}}{246}%
-\contentsline {codemass}{{Scilab Code}{11.{3}}{}}{246}%
-\contentsline {codemass}{{Scilab Code}{11.{4}}{}}{247}%
-\contentsline {pymass}{{Python Code}{11.{1}}{}}{249}%
-\contentsline {pymass}{{Python Code}{11.{2}}{}}{249}%
-\contentsline {pymass}{{Python Code}{11.{3}}{}}{249}%
-\contentsline {juliamass}{{Julia Code}{11.{1}}{}}{250}%
-\contentsline {juliamass}{{Julia Code}{11.{2}}{}}{250}%
-\contentsline {juliamass}{{Julia Code}{11.{3}}{}}{250}%
-\contentsline {OpenModelicamass}{{OpenModelica Code}{11.{1}}{}}{251}%
-\contentsline {OpenModelicamass}{{OpenModelica Code}{11.{2}}{}}{251}%
-\contentsline {OpenModelicamass}{{OpenModelica Code}{11.{3}}{}}{251}%
+\contentsline {ardmass}{{Arduino Code}{3.{1}}{}}{25}{ardmass.3.1}
+\contentsline {codemass}{{Scilab Code}{3.{1}}{}}{34}{codemass.3.1}
+\contentsline {pymass}{{Python Code}{3.{1}}{}}{46}{pymass.3.1}
+\contentsline {juliamass}{{Julia Code}{3.{1}}{}}{55}{juliamass.3.1}
+\contentsline {OpenModelicamass}{{OpenModelica Code}{3.{1}}{}}{65}{OpenModelicamass.3.1}
+\contentsline {egmass}{{Exercise}{4.{1}}{}}{71}{egmass.4.1}
+\contentsline {ardmass}{{Arduino Code}{4.{1}}{}}{72}{ardmass.4.1}
+\contentsline {ardmass}{{Arduino Code}{4.{2}}{}}{72}{ardmass.4.2}
+\contentsline {ardmass}{{Arduino Code}{4.{3}}{}}{73}{ardmass.4.3}
+\contentsline {ardmass}{{Arduino Code}{4.{4}}{}}{73}{ardmass.4.4}
+\contentsline {egmass}{{Exercise}{4.{2}}{}}{75}{egmass.4.2}
+\contentsline {codemass}{{Scilab Code}{4.{1}}{}}{75}{codemass.4.1}
+\contentsline {codemass}{{Scilab Code}{4.{2}}{}}{76}{codemass.4.2}
+\contentsline {codemass}{{Scilab Code}{4.{3}}{}}{76}{codemass.4.3}
+\contentsline {codemass}{{Scilab Code}{4.{4}}{}}{76}{codemass.4.4}
+\contentsline {egmass}{{Exercise}{4.{3}}{}}{80}{egmass.4.3}
+\contentsline {egmass}{{Exercise}{4.{4}}{}}{82}{egmass.4.4}
+\contentsline {pymass}{{Python Code}{4.{1}}{}}{83}{pymass.4.1}
+\contentsline {pymass}{{Python Code}{4.{2}}{}}{83}{pymass.4.2}
+\contentsline {pymass}{{Python Code}{4.{3}}{}}{84}{pymass.4.3}
+\contentsline {pymass}{{Python Code}{4.{4}}{}}{85}{pymass.4.4}
+\contentsline {juliamass}{{Julia Code}{4.{1}}{}}{87}{juliamass.4.1}
+\contentsline {juliamass}{{Julia Code}{4.{2}}{}}{88}{juliamass.4.2}
+\contentsline {juliamass}{{Julia Code}{4.{3}}{}}{88}{juliamass.4.3}
+\contentsline {juliamass}{{Julia Code}{4.{4}}{}}{88}{juliamass.4.4}
+\contentsline {OpenModelicamass}{{OpenModelica Code}{4.{1}}{}}{91}{OpenModelicamass.4.1}
+\contentsline {OpenModelicamass}{{OpenModelica Code}{4.{2}}{}}{91}{OpenModelicamass.4.2}
+\contentsline {OpenModelicamass}{{OpenModelica Code}{4.{3}}{}}{92}{OpenModelicamass.4.3}
+\contentsline {OpenModelicamass}{{OpenModelica Code}{4.{4}}{}}{93}{OpenModelicamass.4.4}
+\contentsline {ardmass}{{Arduino Code}{5.{1}}{}}{99}{ardmass.5.1}
+\contentsline {ardmass}{{Arduino Code}{5.{2}}{}}{99}{ardmass.5.2}
+\contentsline {codemass}{{Scilab Code}{5.{1}}{}}{101}{codemass.5.1}
+\contentsline {codemass}{{Scilab Code}{5.{2}}{}}{102}{codemass.5.2}
+\contentsline {egmass}{{Exercise}{5.{1}}{}}{104}{egmass.5.1}
+\contentsline {pymass}{{Python Code}{5.{1}}{}}{106}{pymass.5.1}
+\contentsline {pymass}{{Python Code}{5.{2}}{}}{107}{pymass.5.2}
+\contentsline {juliamass}{{Julia Code}{5.{1}}{}}{109}{juliamass.5.1}
+\contentsline {juliamass}{{Julia Code}{5.{2}}{}}{109}{juliamass.5.2}
+\contentsline {OpenModelicamass}{{OpenModelica Code}{5.{1}}{}}{111}{OpenModelicamass.5.1}
+\contentsline {OpenModelicamass}{{OpenModelica Code}{5.{2}}{}}{112}{OpenModelicamass.5.2}
+\contentsline {egmass}{{Exercise}{6.{1}}{}}{119}{egmass.6.1}
+\contentsline {ardmass}{{Arduino Code}{6.{1}}{}}{120}{ardmass.6.1}
+\contentsline {ardmass}{{Arduino Code}{6.{2}}{}}{120}{ardmass.6.2}
+\contentsline {egmass}{{Exercise}{6.{2}}{}}{121}{egmass.6.2}
+\contentsline {codemass}{{Scilab Code}{6.{1}}{}}{122}{codemass.6.1}
+\contentsline {codemass}{{Scilab Code}{6.{2}}{}}{122}{codemass.6.2}
+\contentsline {egmass}{{Exercise}{6.{3}}{}}{127}{egmass.6.3}
+\contentsline {pymass}{{Python Code}{6.{1}}{}}{127}{pymass.6.1}
+\contentsline {pymass}{{Python Code}{6.{2}}{}}{128}{pymass.6.2}
+\contentsline {egmass}{{Exercise}{6.{4}}{}}{130}{egmass.6.4}
+\contentsline {juliamass}{{Julia Code}{6.{1}}{}}{130}{juliamass.6.1}
+\contentsline {juliamass}{{Julia Code}{6.{2}}{}}{131}{juliamass.6.2}
+\contentsline {OpenModelicamass}{{OpenModelica Code}{6.{1}}{}}{132}{OpenModelicamass.6.1}
+\contentsline {OpenModelicamass}{{OpenModelica Code}{6.{2}}{}}{133}{OpenModelicamass.6.2}
+\contentsline {ardmass}{{Arduino Code}{7.{1}}{}}{138}{ardmass.7.1}
+\contentsline {codemass}{{Scilab Code}{7.{1}}{}}{140}{codemass.7.1}
+\contentsline {egmass}{{Exercise}{7.{1}}{}}{142}{egmass.7.1}
+\contentsline {pymass}{{Python Code}{7.{1}}{}}{143}{pymass.7.1}
+\contentsline {juliamass}{{Julia Code}{7.{1}}{}}{145}{juliamass.7.1}
+\contentsline {OpenModelicamass}{{OpenModelica Code}{7.{1}}{}}{147}{OpenModelicamass.7.1}
+\contentsline {egmass}{{Exercise}{8.{1}}{}}{154}{egmass.8.1}
+\contentsline {ardmass}{{Arduino Code}{8.{1}}{}}{154}{ardmass.8.1}
+\contentsline {ardmass}{{Arduino Code}{8.{2}}{}}{155}{ardmass.8.2}
+\contentsline {egmass}{{Exercise}{8.{2}}{}}{157}{egmass.8.2}
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+\contentsline {pymass}{{Python Code}{8.{1}}{}}{165}{pymass.8.1}
+\contentsline {pymass}{{Python Code}{8.{2}}{}}{165}{pymass.8.2}
+\contentsline {juliamass}{{Julia Code}{8.{1}}{}}{168}{juliamass.8.1}
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+\contentsline {OpenModelicamass}{{OpenModelica Code}{8.{1}}{}}{171}{OpenModelicamass.8.1}
+\contentsline {OpenModelicamass}{{OpenModelica Code}{8.{2}}{}}{172}{OpenModelicamass.8.2}
+\contentsline {egmass}{{Exercise}{9.{1}}{}}{178}{egmass.9.1}
+\contentsline {ardmass}{{Arduino Code}{9.{1}}{}}{178}{ardmass.9.1}
+\contentsline {ardmass}{{Arduino Code}{9.{2}}{}}{179}{ardmass.9.2}
+\contentsline {ardmass}{{Arduino Code}{9.{3}}{}}{179}{ardmass.9.3}
+\contentsline {ardmass}{{Arduino Code}{9.{4}}{}}{179}{ardmass.9.4}
+\contentsline {codemass}{{Scilab Code}{9.{1}}{}}{182}{codemass.9.1}
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+\contentsline {codemass}{{Scilab Code}{9.{3}}{}}{182}{codemass.9.3}
+\contentsline {codemass}{{Scilab Code}{9.{4}}{}}{183}{codemass.9.4}
+\contentsline {pymass}{{Python Code}{9.{1}}{}}{189}{pymass.9.1}
+\contentsline {pymass}{{Python Code}{9.{2}}{}}{190}{pymass.9.2}
+\contentsline {pymass}{{Python Code}{9.{3}}{}}{191}{pymass.9.3}
+\contentsline {pymass}{{Python Code}{9.{4}}{}}{192}{pymass.9.4}
+\contentsline {juliamass}{{Julia Code}{9.{1}}{}}{195}{juliamass.9.1}
+\contentsline {juliamass}{{Julia Code}{9.{2}}{}}{195}{juliamass.9.2}
+\contentsline {juliamass}{{Julia Code}{9.{3}}{}}{195}{juliamass.9.3}
+\contentsline {juliamass}{{Julia Code}{9.{4}}{}}{196}{juliamass.9.4}
+\contentsline {OpenModelicamass}{{OpenModelica Code}{9.{1}}{}}{198}{OpenModelicamass.9.1}
+\contentsline {OpenModelicamass}{{OpenModelica Code}{9.{2}}{}}{199}{OpenModelicamass.9.2}
+\contentsline {OpenModelicamass}{{OpenModelica Code}{9.{3}}{}}{199}{OpenModelicamass.9.3}
+\contentsline {OpenModelicamass}{{OpenModelica Code}{9.{4}}{}}{200}{OpenModelicamass.9.4}
+\contentsline {egmass}{{Exercise}{10.{1}}{}}{207}{egmass.10.1}
+\contentsline {ardmass}{{Arduino Code}{10.{1}}{}}{208}{ardmass.10.1}
+\contentsline {ardmass}{{Arduino Code}{10.{2}}{}}{208}{ardmass.10.2}
+\contentsline {ardmass}{{Arduino Code}{10.{3}}{}}{209}{ardmass.10.3}
+\contentsline {egmass}{{Exercise}{10.{2}}{}}{212}{egmass.10.2}
+\contentsline {codemass}{{Scilab Code}{10.{1}}{}}{212}{codemass.10.1}
+\contentsline {codemass}{{Scilab Code}{10.{2}}{}}{212}{codemass.10.2}
+\contentsline {codemass}{{Scilab Code}{10.{3}}{}}{213}{codemass.10.3}
+\contentsline {egmass}{{Exercise}{10.{3}}{}}{216}{egmass.10.3}
+\contentsline {pymass}{{Python Code}{10.{1}}{}}{219}{pymass.10.1}
+\contentsline {pymass}{{Python Code}{10.{2}}{}}{220}{pymass.10.2}
+\contentsline {pymass}{{Python Code}{10.{3}}{}}{221}{pymass.10.3}
+\contentsline {juliamass}{{Julia Code}{10.{1}}{}}{224}{juliamass.10.1}
+\contentsline {juliamass}{{Julia Code}{10.{2}}{}}{225}{juliamass.10.2}
+\contentsline {juliamass}{{Julia Code}{10.{3}}{}}{225}{juliamass.10.3}
+\contentsline {OpenModelicamass}{{OpenModelica Code}{10.{1}}{}}{228}{OpenModelicamass.10.1}
+\contentsline {OpenModelicamass}{{OpenModelica Code}{10.{2}}{}}{229}{OpenModelicamass.10.2}
+\contentsline {OpenModelicamass}{{OpenModelica Code}{10.{3}}{}}{229}{OpenModelicamass.10.3}
+\contentsline {ardmass}{{Arduino Code}{11.{1}}{}}{245}{ardmass.11.1}
+\contentsline {codemass}{{Scilab Code}{11.{1}}{}}{246}{codemass.11.1}
+\contentsline {codemass}{{Scilab Code}{11.{2}}{}}{246}{codemass.11.2}
+\contentsline {codemass}{{Scilab Code}{11.{3}}{}}{246}{codemass.11.3}
+\contentsline {codemass}{{Scilab Code}{11.{4}}{}}{247}{codemass.11.4}
+\contentsline {pymass}{{Python Code}{11.{1}}{}}{249}{pymass.11.1}
+\contentsline {pymass}{{Python Code}{11.{2}}{}}{249}{pymass.11.2}
+\contentsline {pymass}{{Python Code}{11.{3}}{}}{249}{pymass.11.3}
+\contentsline {juliamass}{{Julia Code}{11.{1}}{}}{250}{juliamass.11.1}
+\contentsline {juliamass}{{Julia Code}{11.{2}}{}}{250}{juliamass.11.2}
+\contentsline {juliamass}{{Julia Code}{11.{3}}{}}{250}{juliamass.11.3}
+\contentsline {OpenModelicamass}{{OpenModelica Code}{11.{1}}{}}{251}{OpenModelicamass.11.1}
+\contentsline {OpenModelicamass}{{OpenModelica Code}{11.{2}}{}}{251}{OpenModelicamass.11.2}
+\contentsline {OpenModelicamass}{{OpenModelica Code}{11.{3}}{}}{251}{OpenModelicamass.11.3}
diff --git a/floss-arduino.toc b/floss-arduino.toc
index 90df02a..0418fe4 100644
--- a/floss-arduino.toc
+++ b/floss-arduino.toc
@@ -1,225 +1,225 @@
-\contentsline {chapter}{\numberline {List of Figures}}{vii}%
-\contentsline {chapter}{\numberline {List of Tables}}{xi}%
-\contentsline {chapter}{\numberline {List of Arduino \ Code}}{xiii}%
-\contentsline {chapter}{\numberline {List of Scilab Code}}{xv}%
-\contentsline {chapter}{\numberline {List of Python \ Code}}{xvii}%
-\contentsline {chapter}{\numberline {List of Julia\ Code}}{xix}%
-\contentsline {chapter}{\numberline {List of OpenModelica\ Code}}{xxi}%
+\contentsline {chapter}{\numberline {List of Figures}}{vii}{chapter*.2}
+\contentsline {chapter}{\numberline {List of Tables}}{xi}{chapter*.3}
+\contentsline {chapter}{\numberline {List of Arduino \ Code}}{xiii}{chapter*.4}
+\contentsline {chapter}{\numberline {List of Scilab Code}}{xv}{chapter*.5}
+\contentsline {chapter}{\numberline {List of Python \ Code}}{xvii}{chapter*.6}
+\contentsline {chapter}{\numberline {List of Julia\ Code}}{xix}{chapter*.7}
+\contentsline {chapter}{\numberline {List of OpenModelica\ Code}}{xxi}{chapter*.8}
 \thispagestyle {empty}
-\contentsline {chapter}{\numberline {List of Acronyms}}{xxiii}%
-\contentsline {chapter}{\numberline {1}Introduction}{1}%
-\contentsline {chapter}{\numberline {2}Hardware Environment}{3}%
-\contentsline {section}{\numberline {2.1}Microcontroller}{3}%
-\contentsline {subsection}{\numberline {2.1.1}Organization of a Microcontroller}{3}%
-\contentsline {subsection}{\numberline {2.1.2}Microcontroller Peripherals}{5}%
-\contentsline {section}{\numberline {2.2}Open Source Hardware (OSHW)}{7}%
-\contentsline {section}{\numberline {2.3}Arduino}{8}%
-\contentsline {subsection}{\numberline {2.3.1}Brief History}{8}%
-\contentsline {subsection}{\numberline {2.3.2}Arduino Uno Board}{9}%
-\contentsline {subsection}{\numberline {2.3.3}Popular Arduino Projects}{9}%
-\contentsline {paragraph}{Arduino phone:}{10}%
-\contentsline {paragraph}{Candy sorting machine:}{11}%
-\contentsline {paragraph}{3D printers:}{11}%
-\contentsline {section}{\numberline {2.4}Shield}{11}%
-\contentsline {section}{\numberline {2.5}Experimental Test Bed}{12}%
-\contentsline {chapter}{\numberline {3}Communication between Software and Arduino}{17}%
-\contentsline {section}{\numberline {3.1}Arduino IDE}{17}%
-\contentsline {subsection}{\numberline {3.1.1}Downloading and installing on Windows}{18}%
-\contentsline {subsection}{\numberline {3.1.2}Downloading and installing on GNU/Linux Ubuntu}{19}%
-\contentsline {subsection}{\numberline {3.1.3}Arduino Development Environment}{21}%
-\contentsline {subsection}{\numberline {3.1.4}Testing Arduino with a sample program}{24}%
-\contentsline {subsection}{\numberline {3.1.5}FLOSS Firmware}{25}%
-\contentsline {section}{\numberline {3.2}Scilab}{25}%
-\contentsline {subsection}{\numberline {3.2.1}Downloading and installing on Windows}{26}%
-\contentsline {subsection}{\numberline {3.2.2}Downloading and installing on GNU/Linux Ubuntu}{26}%
-\contentsline {subsection}{\numberline {3.2.3}Scilab-Arduino toolbox}{27}%
-\contentsline {subsection}{\numberline {3.2.4}Identifying Arduino communication port number}{29}%
-\contentsline {subsection}{\numberline {3.2.5}Testing Scilab-Arduino toolbox}{31}%
-\contentsline {subsection}{\numberline {3.2.6}Firmware}{33}%
-\contentsline {section}{\numberline {3.3}Xcos}{35}%
-\contentsline {subsection}{\numberline {3.3.1}Downloading, installing and testing}{35}%
-\contentsline {subsection}{\numberline {3.3.2}Use case}{36}%
-\contentsline {subsection}{\numberline {3.3.3}Xcos-Arduino}{40}%
-\contentsline {section}{\numberline {3.4}Python}{41}%
-\contentsline {subsection}{\numberline {3.4.1}Downloading and installing on Windows}{41}%
-\contentsline {subsection}{\numberline {3.4.2}Downloading and installing on GNU/Linux Ubuntu}{44}%
-\contentsline {subsection}{\numberline {3.4.3}Python-Arduino toolbox}{45}%
-\contentsline {subsection}{\numberline {3.4.4}Firmware}{46}%
-\contentsline {section}{\numberline {3.5}Julia}{47}%
-\contentsline {subsection}{\numberline {3.5.1}Downloading and installing on Windows}{47}%
-\contentsline {subsection}{\numberline {3.5.2}Downloading and installing GNU/Linux Ubuntu}{51}%
-\contentsline {subsection}{\numberline {3.5.3}Julia-Arduino toolbox}{54}%
-\contentsline {subsection}{\numberline {3.5.4}Firmware}{55}%
-\contentsline {section}{\numberline {3.6}OpenModelica}{55}%
-\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 {3.6.5}Firmware}{64}%
-\contentsline {chapter}{\numberline {4}Interfacing a Light Emitting Diode}{67}%
-\contentsline {section}{\numberline {4.1}Preliminaries}{67}%
-\contentsline {section}{\numberline {4.2}Connecting an RGB LED with Arduino Uno\ using a breadboard}{69}%
-\contentsline {section}{\numberline {4.3}Lighting the LED from the Arduino IDE}{70}%
-\contentsline {subsection}{\numberline {4.3.1}Lighting the LED}{70}%
-\contentsline {paragraph}{Note:}{71}%
-\contentsline {paragraph}{Note:}{71}%
-\contentsline {subsection}{\numberline {4.3.2}Arduino Code}{72}%
-\contentsline {section}{\numberline {4.4}Lighting the LED from Scilab}{74}%
-\contentsline {subsection}{\numberline {4.4.1}Lighting the LED}{74}%
-\contentsline {subsection}{\numberline {4.4.2}Scilab Code}{75}%
-\contentsline {section}{\numberline {4.5}Lighting the LED from Scilab Xcos}{76}%
-\contentsline {section}{\numberline {4.6}Lighting the LED from Python}{81}%
-\contentsline {subsection}{\numberline {4.6.1}Lighting the LED}{81}%
-\contentsline {subsection}{\numberline {4.6.2}Python Code}{83}%
-\contentsline {section}{\numberline {4.7}Lighting the LED from Julia}{86}%
-\contentsline {subsection}{\numberline {4.7.1}Lighting the LED}{86}%
-\contentsline {subsection}{\numberline {4.7.2}Julia Code}{87}%
-\contentsline {section}{\numberline {4.8}Lighting the LED from OpenModelica}{89}%
-\contentsline {subsection}{\numberline {4.8.1}Lighting the LED}{89}%
-\contentsline {subsection}{\numberline {4.8.2}OpenModelica Code}{90}%
-\contentsline {chapter}{\numberline {5}Interfacing a Pushbutton}{95}%
-\contentsline {section}{\numberline {5.1}Preliminaries}{95}%
-\contentsline {section}{\numberline {5.2}Connecting a pushbutton with Arduino Uno\ using a breadboard}{95}%
-\contentsline {section}{\numberline {5.3}Reading the pushbutton status from the Arduino IDE}{98}%
-\contentsline {subsection}{\numberline {5.3.1}Reading the pushbutton status}{98}%
-\contentsline {subsection}{\numberline {5.3.2}Arduino Code}{99}%
-\contentsline {section}{\numberline {5.4}Reading the pushbutton Status from Scilab}{100}%
-\contentsline {subsection}{\numberline {5.4.1}Reading the pushbutton Status}{100}%
-\contentsline {subsection}{\numberline {5.4.2}Scilab Code}{101}%
-\contentsline {section}{\numberline {5.5}Accessing the pushbutton from Xcos}{102}%
-\contentsline {section}{\numberline {5.6}Reading the pushbutton status from Python}{105}%
-\contentsline {subsection}{\numberline {5.6.1}Reading the pushbutton status}{105}%
-\contentsline {subsection}{\numberline {5.6.2}Python Code}{106}%
-\contentsline {section}{\numberline {5.7}Reading the pushbutton status from Julia}{108}%
-\contentsline {subsection}{\numberline {5.7.1}Reading the pushbutton status}{108}%
-\contentsline {subsection}{\numberline {5.7.2}Julia Code}{109}%
-\contentsline {section}{\numberline {5.8}Reading the pushbutton status from OpenModelica}{110}%
-\contentsline {subsection}{\numberline {5.8.1}Reading the pushbutton status}{110}%
-\contentsline {subsection}{\numberline {5.8.2}OpenModelica Code}{111}%
-\contentsline {chapter}{\numberline {6}Interfacing a Light Dependent Resistor}{115}%
-\contentsline {section}{\numberline {6.1}Preliminaries}{115}%
-\contentsline {section}{\numberline {6.2}Connecting an LDR with Arduino Uno\ using a breadboard}{117}%
-\contentsline {section}{\numberline {6.3}Interfacing the LDR through the Arduino IDE}{118}%
-\contentsline {subsection}{\numberline {6.3.1}Interfacing the LDR}{118}%
-\contentsline {subsection}{\numberline {6.3.2}Arduino Code}{120}%
-\contentsline {section}{\numberline {6.4}Interfacing the LDR through Scilab}{120}%
-\contentsline {subsection}{\numberline {6.4.1}Interfacing the LDR}{120}%
-\contentsline {subsection}{\numberline {6.4.2}Scilab Code}{122}%
-\contentsline {section}{\numberline {6.5}Interfacing the LDR through Xcos}{122}%
-\contentsline {section}{\numberline {6.6}Interfacing the LDR through Python}{125}%
-\contentsline {subsection}{\numberline {6.6.1}Interfacing the LDR}{125}%
-\contentsline {subsection}{\numberline {6.6.2}Python Code}{127}%
-\contentsline {section}{\numberline {6.7}Interfacing the LDR through Julia}{129}%
-\contentsline {subsection}{\numberline {6.7.1}Interfacing the LDR}{129}%
-\contentsline {subsection}{\numberline {6.7.2}Julia Code}{130}%
-\contentsline {section}{\numberline {6.8}Interfacing the LDR through OpenModelica}{131}%
-\contentsline {subsection}{\numberline {6.8.1}Interfacing the LDR}{131}%
-\contentsline {subsection}{\numberline {6.8.2}OpenModelica Code}{132}%
-\contentsline {chapter}{\numberline {7}Interfacing a Potentiometer}{135}%
-\contentsline {section}{\numberline {7.1}Preliminaries}{135}%
-\contentsline {section}{\numberline {7.2}Connecting a potentiometer with Arduino Uno\ using a breadboard}{136}%
-\contentsline {section}{\numberline {7.3}Reading the potentiometer from the Arduino IDE}{137}%
-\contentsline {subsection}{\numberline {7.3.1}Reading the potentiometer}{137}%
-\contentsline {subsection}{\numberline {7.3.2}Arduino Code}{138}%
-\contentsline {section}{\numberline {7.4}Reading the potentiometer from Scilab}{139}%
-\contentsline {subsection}{\numberline {7.4.1}Reading the potentiometer}{139}%
-\contentsline {subsection}{\numberline {7.4.2}Scilab Code}{140}%
-\contentsline {section}{\numberline {7.5}Reading the potentiometer from Xcos}{141}%
-\contentsline {section}{\numberline {7.6}Reading the potentiometer from Python}{143}%
-\contentsline {subsection}{\numberline {7.6.1}Reading the potentiometer}{143}%
-\contentsline {subsection}{\numberline {7.6.2}Python Code}{143}%
-\contentsline {section}{\numberline {7.7}Reading the potentiometer from Julia}{145}%
-\contentsline {subsection}{\numberline {7.7.1}Reading the potentiometer}{145}%
-\contentsline {subsection}{\numberline {7.7.2}Julia Code}{145}%
-\contentsline {section}{\numberline {7.8}Reading the potentiometer from OpenModelica}{146}%
-\contentsline {subsection}{\numberline {7.8.1}Reading the potentiometer}{146}%
-\contentsline {subsection}{\numberline {7.8.2}OpenModelica Code}{147}%
-\contentsline {chapter}{\numberline {8}Interfacing a Thermistor}{149}%
-\contentsline {section}{\numberline {8.1}Preliminaries}{149}%
-\contentsline {section}{\numberline {8.2}Connecting a thermistor with Arduino Uno\ using a breadboard}{150}%
-\contentsline {section}{\numberline {8.3}Interfacing the thermistor from the Arduino IDE}{152}%
-\contentsline {subsection}{\numberline {8.3.1}Interfacing the thermistor}{152}%
-\contentsline {paragraph}{Note:}{154}%
-\contentsline {subsection}{\numberline {8.3.2}Arduino Code}{154}%
-\contentsline {section}{\numberline {8.4}Interfacing the thermistor from Scilab}{155}%
-\contentsline {subsection}{\numberline {8.4.1}Interfacing the thermistor}{155}%
-\contentsline {paragraph}{Note:}{157}%
-\contentsline {subsection}{\numberline {8.4.2}Scilab Code}{158}%
-\contentsline {section}{\numberline {8.5}Interfacing the thermistor from Xcos}{159}%
-\contentsline {paragraph}{Note:}{161}%
-\contentsline {section}{\numberline {8.6}Interfacing the thermistor from Python}{162}%
-\contentsline {subsection}{\numberline {8.6.1}Interfacing the thermistor}{162}%
-\contentsline {paragraph}{Note:}{164}%
-\contentsline {subsection}{\numberline {8.6.2}Python Code}{164}%
-\contentsline {section}{\numberline {8.7}Interfacing the thermistor from Julia}{166}%
-\contentsline {subsection}{\numberline {8.7.1}Interfacing the thermistor}{166}%
-\contentsline {paragraph}{Note:}{168}%
-\contentsline {subsection}{\numberline {8.7.2}Julia Code}{168}%
-\contentsline {section}{\numberline {8.8}Interfacing the thermistor from OpenModelica}{169}%
-\contentsline {subsection}{\numberline {8.8.1}Interfacing the thermistor}{169}%
-\contentsline {paragraph}{Note:}{170}%
-\contentsline {subsection}{\numberline {8.8.2}OpenModelica Code}{171}%
-\contentsline {chapter}{\numberline {9}Interfacing a Servomotor}{173}%
-\contentsline {section}{\numberline {9.1}Preliminaries}{173}%
-\contentsline {section}{\numberline {9.2}Connecting a servomotor with Arduino Uno\ using a breadboard}{174}%
-\contentsline {section}{\numberline {9.3}Controlling the servomotor through the Arduino IDE}{175}%
-\contentsline {subsection}{\numberline {9.3.1}Controlling the servomotor}{175}%
-\contentsline {subsection}{\numberline {9.3.2}Arduino Code}{178}%
-\contentsline {section}{\numberline {9.4}Controlling the servomotor through Scilab}{180}%
-\contentsline {subsection}{\numberline {9.4.1}Controlling the servomotor}{180}%
-\contentsline {subsection}{\numberline {9.4.2}Scilab Code}{182}%
-\contentsline {section}{\numberline {9.5}Controling the servomotor through Xcos}{183}%
-\contentsline {section}{\numberline {9.6}Controlling the servomotor through Python}{188}%
-\contentsline {subsection}{\numberline {9.6.1}Controlling the servomotor}{188}%
-\contentsline {subsection}{\numberline {9.6.2}Python Code}{189}%
-\contentsline {section}{\numberline {9.7}Controlling the servomotor through Julia}{193}%
-\contentsline {subsection}{\numberline {9.7.1}Controlling the servomotor}{193}%
-\contentsline {subsection}{\numberline {9.7.2}Julia Code}{195}%
-\contentsline {section}{\numberline {9.8}Controlling the servomotor through OpenModelica}{196}%
-\contentsline {subsection}{\numberline {9.8.1}Controlling the servomotor}{196}%
-\contentsline {subsection}{\numberline {9.8.2}OpenModelica Code}{198}%
-\contentsline {chapter}{\numberline {10}Interfacing a DC Motor}{203}%
-\contentsline {section}{\numberline {10.1}Preliminaries}{203}%
-\contentsline {section}{\numberline {10.2}Controlling the DC motor from Arduino}{206}%
-\contentsline {subsection}{\numberline {10.2.1}Controlling the DC motor}{206}%
-\contentsline {paragraph}{Note:}{206}%
-\contentsline {subsection}{\numberline {10.2.2}Arduino Code}{208}%
-\contentsline {section}{\numberline {10.3}Controlling the DC motor from Scilab}{209}%
-\contentsline {subsection}{\numberline {10.3.1}Controlling the DC motor}{209}%
-\contentsline {paragraph}{Note:}{209}%
-\contentsline {paragraph}{Note:}{211}%
-\contentsline {subsection}{\numberline {10.3.2}Scilab Code}{212}%
-\contentsline {section}{\numberline {10.4}Controlling the DC motor from Xcos}{213}%
-\contentsline {section}{\numberline {10.5}Controlling the DC motor from Python}{216}%
-\contentsline {subsection}{\numberline {10.5.1}Controlling the DC motor}{216}%
-\contentsline {paragraph}{Note:}{217}%
-\contentsline {paragraph}{Note:}{218}%
-\contentsline {subsection}{\numberline {10.5.2}Python Code}{219}%
-\contentsline {section}{\numberline {10.6}Controlling the DC motor from Julia}{222}%
-\contentsline {subsection}{\numberline {10.6.1}Controlling the DC motor}{222}%
-\contentsline {paragraph}{Note:}{222}%
-\contentsline {paragraph}{Note:}{224}%
-\contentsline {subsection}{\numberline {10.6.2}Julia Code}{224}%
-\contentsline {section}{\numberline {10.7}Controlling the DC motor from OpenModelica}{226}%
-\contentsline {subsection}{\numberline {10.7.1}Controlling the DC motor}{226}%
-\contentsline {paragraph}{Note:}{226}%
-\contentsline {paragraph}{Note:}{227}%
-\contentsline {subsection}{\numberline {10.7.2}OpenModelica Code}{228}%
-\contentsline {chapter}{\numberline {11}Implementation of Modbus Protocol}{231}%
-\contentsline {section}{\numberline {11.1}Preliminaries}{231}%
-\contentsline {subsection}{\numberline {11.1.1}Energy meter}{233}%
-\contentsline {paragraph}{Note:}{235}%
-\contentsline {subsection}{\numberline {11.1.2}Endianness}{236}%
-\contentsline {section}{\numberline {11.2}Objective}{238}%
-\contentsline {section}{\numberline {11.3}Manifestation of Modbus protocol with Arduino Uno\ and energy meter}{238}%
-\contentsline {subsection}{\numberline {11.3.1}Software}{240}%
-\contentsline {subsection}{\numberline {11.3.2}Output in the Scilab Console}{241}%
-\contentsline {section}{\numberline {11.4}Accessing the electrical parameters from Scilab}{244}%
-\contentsline {subsection}{\numberline {11.4.1}Accessing the electrical parameters}{244}%
-\contentsline {subsection}{\numberline {11.4.2}Arduino Firmware}{245}%
-\contentsline {subsection}{\numberline {11.4.3}Scilab Code}{246}%
-\contentsline {section}{\numberline {11.5}Reading Parameters from Xcos}{247}%
-\contentsline {subsection}{\numberline {11.5.1}Python Code}{249}%
-\contentsline {subsection}{\numberline {11.5.2}Julia Code}{250}%
-\contentsline {subsection}{\numberline {11.5.3}OpenModelica Code}{251}%
-\contentsline {chapter}{\numberline {References}}{253}%
+\contentsline {chapter}{\numberline {List of Acronyms}}{xxiii}{chapter*.9}
+\contentsline {chapter}{\numberline {1}Introduction}{1}{chapter.1}
+\contentsline {chapter}{\numberline {2}Hardware Environment}{3}{chapter.2}
+\contentsline {section}{\numberline {2.1}Microcontroller}{3}{section.2.1}
+\contentsline {subsection}{\numberline {2.1.1}Organization of a Microcontroller}{3}{subsection.2.1.1}
+\contentsline {subsection}{\numberline {2.1.2}Microcontroller Peripherals}{5}{subsection.2.1.2}
+\contentsline {section}{\numberline {2.2}Open Source Hardware (OSHW)}{7}{section.2.2}
+\contentsline {section}{\numberline {2.3}Arduino}{8}{section.2.3}
+\contentsline {subsection}{\numberline {2.3.1}Brief History}{8}{subsection.2.3.1}
+\contentsline {subsection}{\numberline {2.3.2}Arduino Uno Board}{9}{subsection.2.3.2}
+\contentsline {subsection}{\numberline {2.3.3}Popular Arduino Projects}{9}{subsection.2.3.3}
+\contentsline {paragraph}{Arduino phone:}{10}{section*.17}
+\contentsline {paragraph}{Candy sorting machine:}{11}{section*.19}
+\contentsline {paragraph}{3D printers:}{11}{section*.20}
+\contentsline {section}{\numberline {2.4}Shield}{11}{section.2.4}
+\contentsline {section}{\numberline {2.5}Experimental Test Bed}{12}{section.2.5}
+\contentsline {chapter}{\numberline {3}Communication between Software and Arduino}{17}{chapter.3}
+\contentsline {section}{\numberline {3.1}Arduino IDE}{17}{section.3.1}
+\contentsline {subsection}{\numberline {3.1.1}Downloading and installing on Windows}{18}{subsection.3.1.1}
+\contentsline {subsection}{\numberline {3.1.2}Downloading and installing on GNU/Linux Ubuntu}{19}{subsection.3.1.2}
+\contentsline {subsection}{\numberline {3.1.3}Arduino Development Environment}{21}{subsection.3.1.3}
+\contentsline {subsection}{\numberline {3.1.4}Testing Arduino with a sample program}{24}{subsection.3.1.4}
+\contentsline {subsection}{\numberline {3.1.5}FLOSS Firmware}{25}{subsection.3.1.5}
+\contentsline {section}{\numberline {3.2}Scilab}{25}{section.3.2}
+\contentsline {subsection}{\numberline {3.2.1}Downloading and installing on Windows}{26}{subsection.3.2.1}
+\contentsline {subsection}{\numberline {3.2.2}Downloading and installing on GNU/Linux Ubuntu}{26}{subsection.3.2.2}
+\contentsline {subsection}{\numberline {3.2.3}Scilab-Arduino toolbox}{27}{subsection.3.2.3}
+\contentsline {subsection}{\numberline {3.2.4}Identifying Arduino communication port number}{29}{subsection.3.2.4}
+\contentsline {subsection}{\numberline {3.2.5}Testing Scilab-Arduino toolbox}{31}{subsection.3.2.5}
+\contentsline {subsection}{\numberline {3.2.6}Firmware}{33}{subsection.3.2.6}
+\contentsline {section}{\numberline {3.3}Xcos}{35}{section.3.3}
+\contentsline {subsection}{\numberline {3.3.1}Downloading, installing and testing}{35}{subsection.3.3.1}
+\contentsline {subsection}{\numberline {3.3.2}Use case}{36}{subsection.3.3.2}
+\contentsline {subsection}{\numberline {3.3.3}Xcos-Arduino}{40}{subsection.3.3.3}
+\contentsline {section}{\numberline {3.4}Python}{41}{section.3.4}
+\contentsline {subsection}{\numberline {3.4.1}Downloading and installing on Windows}{41}{subsection.3.4.1}
+\contentsline {subsection}{\numberline {3.4.2}Downloading and installing on GNU/Linux Ubuntu}{44}{subsection.3.4.2}
+\contentsline {subsection}{\numberline {3.4.3}Python-Arduino toolbox}{45}{subsection.3.4.3}
+\contentsline {subsection}{\numberline {3.4.4}Firmware}{46}{subsection.3.4.4}
+\contentsline {section}{\numberline {3.5}Julia}{47}{section.3.5}
+\contentsline {subsection}{\numberline {3.5.1}Downloading and installing on Windows}{47}{subsection.3.5.1}
+\contentsline {subsection}{\numberline {3.5.2}Downloading and installing GNU/Linux Ubuntu}{51}{subsection.3.5.2}
+\contentsline {subsection}{\numberline {3.5.3}Julia-Arduino toolbox}{54}{subsection.3.5.3}
+\contentsline {subsection}{\numberline {3.5.4}Firmware}{55}{subsection.3.5.4}
+\contentsline {section}{\numberline {3.6}OpenModelica}{55}{section.3.6}
+\contentsline {subsection}{\numberline {3.6.1}Downloading and installing on Windows}{56}{subsection.3.6.1}
+\contentsline {subsection}{\numberline {3.6.2}Downloading and installing on GNU/Linux Ubuntu}{57}{subsection.3.6.2}
+\contentsline {subsection}{\numberline {3.6.3}Simulating models in OpenModelica}{57}{subsection.3.6.3}
+\contentsline {subsection}{\numberline {3.6.4}OpenModelica-Arduino toolbox}{63}{subsection.3.6.4}
+\contentsline {subsection}{\numberline {3.6.5}Firmware}{64}{subsection.3.6.5}
+\contentsline {chapter}{\numberline {4}Interfacing a Light Emitting Diode}{67}{chapter.4}
+\contentsline {section}{\numberline {4.1}Preliminaries}{67}{section.4.1}
+\contentsline {section}{\numberline {4.2}Connecting an RGB LED with Arduino Uno\ using a breadboard}{69}{section.4.2}
+\contentsline {section}{\numberline {4.3}Lighting the LED from the Arduino IDE}{70}{section.4.3}
+\contentsline {subsection}{\numberline {4.3.1}Lighting the LED}{70}{subsection.4.3.1}
+\contentsline {paragraph}{Note:}{71}{section*.74}
+\contentsline {paragraph}{Note:}{71}{section*.76}
+\contentsline {subsection}{\numberline {4.3.2}Arduino Code}{72}{subsection.4.3.2}
+\contentsline {section}{\numberline {4.4}Lighting the LED from Scilab}{74}{section.4.4}
+\contentsline {subsection}{\numberline {4.4.1}Lighting the LED}{74}{subsection.4.4.1}
+\contentsline {subsection}{\numberline {4.4.2}Scilab Code}{75}{subsection.4.4.2}
+\contentsline {section}{\numberline {4.5}Lighting the LED from Scilab Xcos}{76}{section.4.5}
+\contentsline {section}{\numberline {4.6}Lighting the LED from Python}{81}{section.4.6}
+\contentsline {subsection}{\numberline {4.6.1}Lighting the LED}{81}{subsection.4.6.1}
+\contentsline {subsection}{\numberline {4.6.2}Python Code}{83}{subsection.4.6.2}
+\contentsline {section}{\numberline {4.7}Lighting the LED from Julia}{86}{section.4.7}
+\contentsline {subsection}{\numberline {4.7.1}Lighting the LED}{86}{subsection.4.7.1}
+\contentsline {subsection}{\numberline {4.7.2}Julia Code}{87}{subsection.4.7.2}
+\contentsline {section}{\numberline {4.8}Lighting the LED from OpenModelica}{89}{section.4.8}
+\contentsline {subsection}{\numberline {4.8.1}Lighting the LED}{89}{subsection.4.8.1}
+\contentsline {subsection}{\numberline {4.8.2}OpenModelica Code}{90}{subsection.4.8.2}
+\contentsline {chapter}{\numberline {5}Interfacing a Pushbutton}{95}{chapter.5}
+\contentsline {section}{\numberline {5.1}Preliminaries}{95}{section.5.1}
+\contentsline {section}{\numberline {5.2}Connecting a pushbutton with Arduino Uno\ using a breadboard}{95}{section.5.2}
+\contentsline {section}{\numberline {5.3}Reading the pushbutton status from the Arduino IDE}{98}{section.5.3}
+\contentsline {subsection}{\numberline {5.3.1}Reading the pushbutton status}{98}{subsection.5.3.1}
+\contentsline {subsection}{\numberline {5.3.2}Arduino Code}{99}{subsection.5.3.2}
+\contentsline {section}{\numberline {5.4}Reading the pushbutton Status from Scilab}{100}{section.5.4}
+\contentsline {subsection}{\numberline {5.4.1}Reading the pushbutton Status}{100}{subsection.5.4.1}
+\contentsline {subsection}{\numberline {5.4.2}Scilab Code}{101}{subsection.5.4.2}
+\contentsline {section}{\numberline {5.5}Accessing the pushbutton from Xcos}{102}{section.5.5}
+\contentsline {section}{\numberline {5.6}Reading the pushbutton status from Python}{105}{section.5.6}
+\contentsline {subsection}{\numberline {5.6.1}Reading the pushbutton status}{105}{subsection.5.6.1}
+\contentsline {subsection}{\numberline {5.6.2}Python Code}{106}{subsection.5.6.2}
+\contentsline {section}{\numberline {5.7}Reading the pushbutton status from Julia}{108}{section.5.7}
+\contentsline {subsection}{\numberline {5.7.1}Reading the pushbutton status}{108}{subsection.5.7.1}
+\contentsline {subsection}{\numberline {5.7.2}Julia Code}{109}{subsection.5.7.2}
+\contentsline {section}{\numberline {5.8}Reading the pushbutton status from OpenModelica}{110}{section.5.8}
+\contentsline {subsection}{\numberline {5.8.1}Reading the pushbutton status}{110}{subsection.5.8.1}
+\contentsline {subsection}{\numberline {5.8.2}OpenModelica Code}{111}{subsection.5.8.2}
+\contentsline {chapter}{\numberline {6}Interfacing a Light Dependent Resistor}{115}{chapter.6}
+\contentsline {section}{\numberline {6.1}Preliminaries}{115}{section.6.1}
+\contentsline {section}{\numberline {6.2}Connecting an LDR with Arduino Uno\ using a breadboard}{117}{section.6.2}
+\contentsline {section}{\numberline {6.3}Interfacing the LDR through the Arduino IDE}{118}{section.6.3}
+\contentsline {subsection}{\numberline {6.3.1}Interfacing the LDR}{118}{subsection.6.3.1}
+\contentsline {subsection}{\numberline {6.3.2}Arduino Code}{120}{subsection.6.3.2}
+\contentsline {section}{\numberline {6.4}Interfacing the LDR through Scilab}{120}{section.6.4}
+\contentsline {subsection}{\numberline {6.4.1}Interfacing the LDR}{120}{subsection.6.4.1}
+\contentsline {subsection}{\numberline {6.4.2}Scilab Code}{122}{subsection.6.4.2}
+\contentsline {section}{\numberline {6.5}Interfacing the LDR through Xcos}{122}{section.6.5}
+\contentsline {section}{\numberline {6.6}Interfacing the LDR through Python}{126}{section.6.6}
+\contentsline {subsection}{\numberline {6.6.1}Interfacing the LDR}{126}{subsection.6.6.1}
+\contentsline {subsection}{\numberline {6.6.2}Python Code}{127}{subsection.6.6.2}
+\contentsline {section}{\numberline {6.7}Interfacing the LDR through Julia}{129}{section.6.7}
+\contentsline {subsection}{\numberline {6.7.1}Interfacing the LDR}{129}{subsection.6.7.1}
+\contentsline {subsection}{\numberline {6.7.2}Julia Code}{130}{subsection.6.7.2}
+\contentsline {section}{\numberline {6.8}Interfacing the LDR through OpenModelica}{131}{section.6.8}
+\contentsline {subsection}{\numberline {6.8.1}Interfacing the LDR}{131}{subsection.6.8.1}
+\contentsline {subsection}{\numberline {6.8.2}OpenModelica Code}{132}{subsection.6.8.2}
+\contentsline {chapter}{\numberline {7}Interfacing a Potentiometer}{135}{chapter.7}
+\contentsline {section}{\numberline {7.1}Preliminaries}{135}{section.7.1}
+\contentsline {section}{\numberline {7.2}Connecting a potentiometer with Arduino Uno\ using a breadboard}{136}{section.7.2}
+\contentsline {section}{\numberline {7.3}Reading the potentiometer from the Arduino IDE}{137}{section.7.3}
+\contentsline {subsection}{\numberline {7.3.1}Reading the potentiometer}{137}{subsection.7.3.1}
+\contentsline {subsection}{\numberline {7.3.2}Arduino Code}{138}{subsection.7.3.2}
+\contentsline {section}{\numberline {7.4}Reading the potentiometer from Scilab}{139}{section.7.4}
+\contentsline {subsection}{\numberline {7.4.1}Reading the potentiometer}{139}{subsection.7.4.1}
+\contentsline {subsection}{\numberline {7.4.2}Scilab Code}{140}{subsection.7.4.2}
+\contentsline {section}{\numberline {7.5}Reading the potentiometer from Xcos}{141}{section.7.5}
+\contentsline {section}{\numberline {7.6}Reading the potentiometer from Python}{143}{section.7.6}
+\contentsline {subsection}{\numberline {7.6.1}Reading the potentiometer}{143}{subsection.7.6.1}
+\contentsline {subsection}{\numberline {7.6.2}Python Code}{143}{subsection.7.6.2}
+\contentsline {section}{\numberline {7.7}Reading the potentiometer from Julia}{145}{section.7.7}
+\contentsline {subsection}{\numberline {7.7.1}Reading the potentiometer}{145}{subsection.7.7.1}
+\contentsline {subsection}{\numberline {7.7.2}Julia Code}{145}{subsection.7.7.2}
+\contentsline {section}{\numberline {7.8}Reading the potentiometer from OpenModelica}{146}{section.7.8}
+\contentsline {subsection}{\numberline {7.8.1}Reading the potentiometer}{146}{subsection.7.8.1}
+\contentsline {subsection}{\numberline {7.8.2}OpenModelica Code}{147}{subsection.7.8.2}
+\contentsline {chapter}{\numberline {8}Interfacing a Thermistor}{149}{chapter.8}
+\contentsline {section}{\numberline {8.1}Preliminaries}{149}{section.8.1}
+\contentsline {section}{\numberline {8.2}Connecting a thermistor with Arduino Uno\ using a breadboard}{151}{section.8.2}
+\contentsline {section}{\numberline {8.3}Interfacing the thermistor from the Arduino IDE}{152}{section.8.3}
+\contentsline {subsection}{\numberline {8.3.1}Interfacing the thermistor}{152}{subsection.8.3.1}
+\contentsline {paragraph}{Note:}{154}{section*.111}
+\contentsline {subsection}{\numberline {8.3.2}Arduino Code}{154}{subsection.8.3.2}
+\contentsline {section}{\numberline {8.4}Interfacing the thermistor from Scilab}{156}{section.8.4}
+\contentsline {subsection}{\numberline {8.4.1}Interfacing the thermistor}{156}{subsection.8.4.1}
+\contentsline {paragraph}{Note:}{157}{section*.112}
+\contentsline {subsection}{\numberline {8.4.2}Scilab Code}{158}{subsection.8.4.2}
+\contentsline {section}{\numberline {8.5}Interfacing the thermistor from Xcos}{159}{section.8.5}
+\contentsline {paragraph}{Note:}{162}{section*.119}
+\contentsline {section}{\numberline {8.6}Interfacing the thermistor from Python}{162}{section.8.6}
+\contentsline {subsection}{\numberline {8.6.1}Interfacing the thermistor}{162}{subsection.8.6.1}
+\contentsline {paragraph}{Note:}{164}{section*.120}
+\contentsline {subsection}{\numberline {8.6.2}Python Code}{165}{subsection.8.6.2}
+\contentsline {section}{\numberline {8.7}Interfacing the thermistor from Julia}{167}{section.8.7}
+\contentsline {subsection}{\numberline {8.7.1}Interfacing the thermistor}{167}{subsection.8.7.1}
+\contentsline {paragraph}{Note:}{168}{section*.121}
+\contentsline {subsection}{\numberline {8.7.2}Julia Code}{168}{subsection.8.7.2}
+\contentsline {section}{\numberline {8.8}Interfacing the thermistor from OpenModelica}{169}{section.8.8}
+\contentsline {subsection}{\numberline {8.8.1}Interfacing the thermistor}{169}{subsection.8.8.1}
+\contentsline {paragraph}{Note:}{171}{section*.122}
+\contentsline {subsection}{\numberline {8.8.2}OpenModelica Code}{171}{subsection.8.8.2}
+\contentsline {chapter}{\numberline {9}Interfacing a Servomotor}{173}{chapter.9}
+\contentsline {section}{\numberline {9.1}Preliminaries}{173}{section.9.1}
+\contentsline {section}{\numberline {9.2}Connecting a servomotor with Arduino Uno\ using a breadboard}{174}{section.9.2}
+\contentsline {section}{\numberline {9.3}Controlling the servomotor through the Arduino IDE}{175}{section.9.3}
+\contentsline {subsection}{\numberline {9.3.1}Controlling the servomotor}{175}{subsection.9.3.1}
+\contentsline {subsection}{\numberline {9.3.2}Arduino Code}{178}{subsection.9.3.2}
+\contentsline {section}{\numberline {9.4}Controlling the servomotor through Scilab}{180}{section.9.4}
+\contentsline {subsection}{\numberline {9.4.1}Controlling the servomotor}{180}{subsection.9.4.1}
+\contentsline {subsection}{\numberline {9.4.2}Scilab Code}{182}{subsection.9.4.2}
+\contentsline {section}{\numberline {9.5}Controling the servomotor through Xcos}{183}{section.9.5}
+\contentsline {section}{\numberline {9.6}Controlling the servomotor through Python}{188}{section.9.6}
+\contentsline {subsection}{\numberline {9.6.1}Controlling the servomotor}{188}{subsection.9.6.1}
+\contentsline {subsection}{\numberline {9.6.2}Python Code}{189}{subsection.9.6.2}
+\contentsline {section}{\numberline {9.7}Controlling the servomotor through Julia}{193}{section.9.7}
+\contentsline {subsection}{\numberline {9.7.1}Controlling the servomotor}{193}{subsection.9.7.1}
+\contentsline {subsection}{\numberline {9.7.2}Julia Code}{195}{subsection.9.7.2}
+\contentsline {section}{\numberline {9.8}Controlling the servomotor through OpenModelica}{196}{section.9.8}
+\contentsline {subsection}{\numberline {9.8.1}Controlling the servomotor}{196}{subsection.9.8.1}
+\contentsline {subsection}{\numberline {9.8.2}OpenModelica Code}{198}{subsection.9.8.2}
+\contentsline {chapter}{\numberline {10}Interfacing a DC Motor}{203}{chapter.10}
+\contentsline {section}{\numberline {10.1}Preliminaries}{203}{section.10.1}
+\contentsline {section}{\numberline {10.2}Controlling the DC motor from Arduino}{206}{section.10.2}
+\contentsline {subsection}{\numberline {10.2.1}Controlling the DC motor}{206}{subsection.10.2.1}
+\contentsline {paragraph}{Note:}{206}{section*.139}
+\contentsline {subsection}{\numberline {10.2.2}Arduino Code}{208}{subsection.10.2.2}
+\contentsline {section}{\numberline {10.3}Controlling the DC motor from Scilab}{209}{section.10.3}
+\contentsline {subsection}{\numberline {10.3.1}Controlling the DC motor}{209}{subsection.10.3.1}
+\contentsline {paragraph}{Note:}{209}{section*.140}
+\contentsline {paragraph}{Note:}{211}{section*.142}
+\contentsline {subsection}{\numberline {10.3.2}Scilab Code}{212}{subsection.10.3.2}
+\contentsline {section}{\numberline {10.4}Controlling the DC motor from Xcos}{213}{section.10.4}
+\contentsline {section}{\numberline {10.5}Controlling the DC motor from Python}{216}{section.10.5}
+\contentsline {subsection}{\numberline {10.5.1}Controlling the DC motor}{216}{subsection.10.5.1}
+\contentsline {paragraph}{Note:}{217}{section*.149}
+\contentsline {paragraph}{Note:}{218}{section*.150}
+\contentsline {subsection}{\numberline {10.5.2}Python Code}{219}{subsection.10.5.2}
+\contentsline {section}{\numberline {10.6}Controlling the DC motor from Julia}{222}{section.10.6}
+\contentsline {subsection}{\numberline {10.6.1}Controlling the DC motor}{222}{subsection.10.6.1}
+\contentsline {paragraph}{Note:}{222}{section*.151}
+\contentsline {paragraph}{Note:}{224}{section*.152}
+\contentsline {subsection}{\numberline {10.6.2}Julia Code}{224}{subsection.10.6.2}
+\contentsline {section}{\numberline {10.7}Controlling the DC motor from OpenModelica}{226}{section.10.7}
+\contentsline {subsection}{\numberline {10.7.1}Controlling the DC motor}{226}{subsection.10.7.1}
+\contentsline {paragraph}{Note:}{226}{section*.153}
+\contentsline {paragraph}{Note:}{227}{section*.154}
+\contentsline {subsection}{\numberline {10.7.2}OpenModelica Code}{228}{subsection.10.7.2}
+\contentsline {chapter}{\numberline {11}Implementation of Modbus Protocol}{231}{chapter.11}
+\contentsline {section}{\numberline {11.1}Preliminaries}{231}{section.11.1}
+\contentsline {subsection}{\numberline {11.1.1}Energy meter}{233}{subsection.11.1.1}
+\contentsline {paragraph}{Note:}{235}{section*.161}
+\contentsline {subsection}{\numberline {11.1.2}Endianness}{236}{subsection.11.1.2}
+\contentsline {section}{\numberline {11.2}Objective}{238}{section.11.2}
+\contentsline {section}{\numberline {11.3}Manifestation of Modbus protocol with Arduino Uno\ and energy meter}{238}{section.11.3}
+\contentsline {subsection}{\numberline {11.3.1}Software}{240}{subsection.11.3.1}
+\contentsline {subsection}{\numberline {11.3.2}Output in the Scilab Console}{241}{subsection.11.3.2}
+\contentsline {section}{\numberline {11.4}Accessing the electrical parameters from Scilab}{245}{section.11.4}
+\contentsline {subsection}{\numberline {11.4.1}Accessing the electrical parameters}{245}{subsection.11.4.1}
+\contentsline {subsection}{\numberline {11.4.2}Arduino Firmware}{245}{subsection.11.4.2}
+\contentsline {subsection}{\numberline {11.4.3}Scilab Code}{246}{subsection.11.4.3}
+\contentsline {section}{\numberline {11.5}Reading Parameters from Xcos}{247}{section.11.5}
+\contentsline {subsection}{\numberline {11.5.1}Python Code}{249}{subsection.11.5.1}
+\contentsline {subsection}{\numberline {11.5.2}Julia Code}{250}{subsection.11.5.2}
+\contentsline {subsection}{\numberline {11.5.3}OpenModelica Code}{251}{subsection.11.5.3}
+\contentsline {chapter}{\numberline {References}}{253}{chapter*.177}
diff --git a/julia-floss-arduino.pdf b/julia-floss-arduino.pdf
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+++ b/julia-floss-arduino.pdf
diff --git a/python-floss-arduino.pdf b/python-floss-arduino.pdf
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+++ b/python-floss-arduino.pdf
diff --git a/scilab-arduino.pdf b/scilab-arduino.pdf
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+++ b/scilab-arduino.pdf
diff --git a/texput.log b/texput.log
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+This is pdfTeX, Version 3.14159265-2.6-1.40.18 (TeX Live 2017) (preloaded format=pdflatex 2017.8.1)  17 MAY 2021 06:48
+entering extended mode
+ restricted \write18 enabled.
+ %&-line parsing enabled.
+**sewa
+
+! Emergency stop.
+<*> sewa
+        
+End of file on the terminal!
+
+ 
+Here is how much of TeX's memory you used:
+ 3 strings out of 492995
+ 99 string characters out of 6132705
+ 54074 words of memory out of 5000000
+ 3658 multiletter control sequences out of 15000+600000
+ 3640 words of font info for 14 fonts, out of 8000000 for 9000
+ 1141 hyphenation exceptions out of 8191
+ 0i,0n,0p,1b,6s stack positions out of 5000i,500n,10000p,200000b,80000s
+!  ==> Fatal error occurred, no output PDF file produced!
diff --git a/user-code/dcmotor/dcmotor-OM.tex b/user-code/dcmotor/dcmotor-OM.tex
new file mode 100644
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+\section{Controlling the DC motor from OpenModelica}
+\subsection{Controlling the DC motor}
+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.
+
+
+
+\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 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}
+
+
+
+%%%%%%%OpenModelica description ends
+
+% \subsection{Using the Xcos features in DC motor control}
+% Xcos can be used to control the DC motor in many different ways.  In
+% this section, we will see a few approaches.  First, we will make the
+% DC motor start and stop.  For this, we will open the program given in \figref{fig:dcm-xcos-start-stop}.
+% \begin{figure}
+% \centering
+% \includegraphics[width=\smfig]{\LocDCMfig/dc-motor-start-stop.png}
+% \caption[Xcos program to make the DC motor to rotate, pause and
+%   repeat]{Xcos program to make the DC motor to rotate, pause and
+%   repeat.  This is what one sees when {\tt
+%     \LocDCMscibrief/dc-motor-start-stop.zcos} is invoked.}
+% \label{fig:dcm-xcos-start-stop}
+% \end{figure}
+
+% The input is a train of pulses of positive values.  The amplitude of
+% these pulses is chosen to be 255.  The period is chosen to be 1s.
+% \redcolor{these values have to be checked - this section to be
+%   rewritten.}  On executing this Xcos code, the DC motor rotates for
+% 1s, pauses for 1s, and repeats.  This continues until the Xcos program
+% is terminated.
+
+% \begin{exercise}
+% Carry out the following exercise:
+% \begin{enumerate}
+% \item The user may repeat this exercise with different amplitude and
+%   periods. 
+% \item The above may be repeated with negative PWM values.
+% \item One may find the least count for all experiments.
+% \end{enumerate}
+% \end{exercise}
+
+% We will next see how to give positive and negative values of PWM in
+% the same experiment.  For this, we will use the Xcos program given in
+% \figref{fig:dcm-xcos-both}.  This code is similar to the previous one,
+% but for a few minor changes.  First of all, we have introduced a gain
+% block, and assigned a value of 255.  This block is excited by pulses
+% of $+1$ and $-1$ alternately.  This simple approach, however, results
+% in the DC motor running in both directions for identical durations.
+% \begin{figure}
+% \centering
+% \includegraphics[width=\lgfig]{\LocDCMfig/dc-motor-both.png}
+% \caption[Xcos program to make the DC motor to rotate, pause and to
+%   rotate in the opposite direction]{Xcos program to make the DC motor
+%   to rotate, pause and to rotate in the opposite direction.  This is
+%   what one sees when {\tt \LocDCMscibrief/dc-motor-both.zcos} is
+%   invoked.}
+% \label{fig:dcm-xcos-both}
+% \end{figure}
+
+% \begin{exercise}
+% Carry out the following exercise:
+% \begin{enumerate}
+% \item Repeat this experiment for different amplitudes and periods.
+% \end{enumerate}
+% \end{exercise}
+
+
+% \subsection{Troubleshooting \redcolor{Do we need this? - Manas, please answer}}
+% \begin{enumerate}
+% \item If we want to connect external supply, Ground (Gnd) pin of L293D board, external supply and \arduino\ board should be shorted. This creates common ground voltage for entire set-up.
+% \item We can connect more than one motor simultaneously using H-bridge like L293D. Typically break-out boards support 2 motors. However we are limited by number of PWM pins available on the board. For each motor cable of bidirectional motion, we need two PWM pins
+% \end{enumerate}
+
+
+\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 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 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 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/dcmotor/dcmotor-base.tex b/user-code/dcmotor/dcmotor-base.tex
new file mode 100644
index 0000000..0f5544c
--- /dev/null
+++ b/user-code/dcmotor/dcmotor-base.tex
@@ -0,0 +1,237 @@
+\chapter{Interfacing a DC Motor}

+\thispagestyle{empty}

+\label{dcmotor}

+\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}}

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

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

+        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}}

+%%%%%%%%%%%%%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}}

+%%%%%%%%%%%%%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

+

+%%%%%OpenModelcia Ends

+

+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

+the DC motor is changed.  For that, one needs to use external hardware

+called \index{H-Bridge circuit DC motor}%

+H-Bridge circuit DC motor with \arduino. \index{H-Bridge}%

+H-Bridge allows direction of the current passing through the DC motor

+to be changed. It avoids the sudden short that may happen while

+changing the direction of current passing through the motor.  It is

+one of the essential circuits for the smooth operation of a DC

+motor. There are many manufacturers of H-bridge circuit viz.

+\index{L293D,L298}%

+L293D, L298, etc.  Often they provide small \index{PCB breakout

+  board}%

+PCB breakout boards.  These modules also provide an extra supply that

+is needed to drive the DC motor.  \figref{fig:motordriverboard} shows

+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}

+\end{figure}

+

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

+  modulation, PWM}%

+pulse width modulation (PWM) form. PWM is a technique to generate

+analog voltages using digital pins. We know that \arduino\ has digital

+input-output pins. When these pins are configured as an output, they

+provide High (5V) or Low (0V) voltage. With PWM technique, these pins

+are switched on and off iteratively and fast enough so that the

+voltage is averaged out to some analog value in between 0-5V. This

+analog value depends on ''switch-on'' time and ''switch-off''

+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 (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 \figref{fig:uno-pwm}. 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.

+

+\begin{figure}

+  \centering

+  \includegraphics[width=\lgfig]{\LocDCMfig/uno-pwm.jpg}

+  \caption{PWM pins on an \arduino\ board}

+  \label{fig:uno-pwm}

+\end{figure}

+

+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.

+\end{enumerate}

+A schematic of these connections is given in

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

+\figref{fig:dcmotorconn}.

+

+

+\begin{figure}

+  \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}

+\end{figure}

+

+\section{Controlling the DC motor from Arduino}

+\subsection{Controlling the DC motor}

+\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 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 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}

+\end{exercise}

+

+\subsection{Arduino Code}

+\label{sec:dcmotor-arduino-code}

+\lstset{style=mystyle}

+\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}

+\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}

+\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}

+\end{ardcode}

+

+

diff --git a/user-code/dcmotor/dcmotor-julia.tex b/user-code/dcmotor/dcmotor-julia.tex
new file mode 100644
index 0000000..d542ab4
--- /dev/null
+++ b/user-code/dcmotor/dcmotor-julia.tex
@@ -0,0 +1,129 @@
+\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.
+
+\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 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}
+
+
+\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}
+\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}
+\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}
+\end{juliacode}
+
+
diff --git a/user-code/dcmotor/dcmotor-python.tex b/user-code/dcmotor/dcmotor-python.tex
new file mode 100644
index 0000000..ecbdfb2
--- /dev/null
+++ b/user-code/dcmotor/dcmotor-python.tex
@@ -0,0 +1,163 @@
+\section{Controlling the DC motor from Python}
+\subsection{Controlling the DC motor}
+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}
+
+% 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)
+
+% 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 ) )
+
+% 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
+
+% sleep(3) //sleep for 3 seconds
+
+% To release the dc motor, we will use the following command
+
+% cmd\_dcmotor\_release(1,1) //Motor 1 is release
+
+% 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}
+\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}
+\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}
+\end{pycode}
+
diff --git a/user-code/dcmotor/dcmotor-scilab.tex b/user-code/dcmotor/dcmotor-scilab.tex
new file mode 100644
index 0000000..c0d25ac
--- /dev/null
+++ b/user-code/dcmotor/dcmotor-scilab.tex
@@ -0,0 +1,476 @@
+\section{Controlling the DC motor from Scilab}
+\label{sec:dcm-sci}
+\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{enumerate}
+  \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. 
+%  \figref{fig:dcmotorfc} explains the entire operation
+% through a flowchart.
+% \begin{figure}
+% \centering
+% \includegraphics[width=\lgfig]{\LocDCMfig/dcmotorflowchart.png}
+% \caption{Flowchart}
+% \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.  
+
+\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}
+\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}
+\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}
+\end{scicode}
+
+\section{Controlling the DC motor from Xcos}
+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.
+
+\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 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 both directions in a loop]
+          {Xcos control of the DC motor in both directions in a loop.  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}
+
+
+%\section{Do we need any of these? \redcolor{Manas, please answer}}
+%   \begin{figure}
+%     \centering
+%     \includegraphics[width=\smfig]{\LocDCMfig/dc-motor-simple.png}
+%     \caption[Control of DC motor from Xcos]{Control of DC motor from
+%       Xcos.  This is what one sees when {\tt
+%         \LocDCMscibrief/dc-motor-simple.zcos} is invoked.}
+%     \label{fig:dcm-xcos-simple}
+%   \end{figure}
+
+
+
+% \begin{enumerate}
+% \item Card 1 on com 5 block: Right-click and open the block properties
+%   or double click on this block.  In the resulting dialog window,
+%   enter the com port number of your system.
+% \item Typeshield 1 on card 1: Following the procedure mentioned above,
+%   make sure that the entry for this block is 3, which corresponds to
+%   L293D breakout board, as explained in \tabref{table:convention}. 
+% \end{enumerate}
+% Leave the other blocks unchanged.
+
+% This Xcos program is used to put a specific PWM value to the DC motor.
+% We can right click (or double click) on any block and see what
+% parameter values are present in it.  By doing this, we can see that
+% this program is used to put in a PWM value of 255.  Start executing
+% 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}
+\end{exercise}
+
diff --git a/user-code/ldr/ldr-OM.tex b/user-code/ldr/ldr-OM.tex
new file mode 100644
index 0000000..9ce96e1
--- /dev/null
+++ b/user-code/ldr/ldr-OM.tex
@@ -0,0 +1,85 @@
+\section{Interfacing the LDR through OpenModelica}
+\subsection{Interfacing the LDR}
+In this section, we discuss how to carry out the experiments of the
+previous section from OpenModelica.  We will list the same two experiments,
+in the same order.  The shield has to be attached to the \arduino\ board
+before doing these experiments 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.
+
+\begin{enumerate}
+  \item In the first experiment, we will read the LDR values. The code for this experiment is given in
+        \OpenModelicaref{OpenModelica:ldr-read} . 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. Then, we read the input coming from analog pin 5 using the 
+        following command:
+        \lstinputlisting[firstline=16,lastline=16]
+        {\LocLDROpenModelicacode/ldr-read.mo} Note that the one leg of the LDR on
+        the shield is connected to analog pin 5 of \arduino\, 
+        as given in \figref{fig:ldrconn}. The read value is displayed 
+        by the following command: 
+        \lstinputlisting[firstline=17,lastline=17]
+        {\LocLDROpenModelicacode/ldr-read.mo} where {\tt val} contains
+        the LDR values ranging from 0 to 1023. If one does the experiment in a completely dark room, the
+        reading will be 0. If on the other hand, a bright light, say for instance the torch
+        light from mobile, is shined, the value displayed is close to 1023. One will get
+        intermediate values by keeping one's finger on the LDR. While simulating this experiment, the readers must keep their fingertips on the LDR and
+        observe the change in values being printed on on the output window of OMEdit, as shown in \figref{om-sim-success}.
+        
+  \item This experiment is an extension of the previous experiment. Here, depending the resistance of the LDR, we will
+        turn the red LED on.  The program for this is available at
+        \OpenModelicaref{OpenModelica:ldr-led}.  The value of LDR is read and stored in {\tt
+            val}.  In case it is below some threshold (like 300 in \OpenModelicaref{OpenModelica:ldr-led}), 
+        it puts a high in pin number 11. From \secref{sec:led-pril}, 
+        one can note that this pin is for the red LED. If the LDR value is below 300, 
+        the red LED will be on, else, it will be turned off. While running this experiment, the readers 
+        must keep their fingertips on the LDR so that the threshold is achieved. Accordingly, 
+        they can observe whether the red LED is turned on. 
+\end{enumerate}
+
+\subsection{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. 
+
+\label{sec:ldr-OpenModelica-code}
+\addtocontents{OpenModelicad}{\protect\addvspace{\codclr}}
+
+\begin{OpenModelicacode}
+  \mcaption{Read and display the LDR values}
+  {Read and display the LDR values.  Available at
+    Arduino -> SerialCommunication -> Examples -> ldr -> ldr\_read.}
+  \label{OpenModelica:ldr-read}
+  \lstinputlisting{\LocLDROpenModelicacode/ldr-read.mo}
+\end{OpenModelicacode}
+
+\begin{OpenModelicacode}
+  \mcaption{Turning the red LED on and off}
+  {Turning the red LED on and off.  Available at
+    Arduino -> SerialCommunication -> Examples -> ldr -> ldr\_led.}
+  \label{OpenModelica:ldr-led}
+  \lstinputlisting{\LocLDROpenModelicacode/ldr-led.mo}
+\end{OpenModelicacode}
+
+
+
+
+
+%%%%%%%%OpenMocelica Description Ends 
+
+% \section{Do we need these?  \redcolor{Manas, please answer}}
+% \begin{figure}
+% \centering
+% \includegraphics[width=\lgfig]{\LocLDRfig/ldr-led.png}
+% \caption{Xcos diagram to change LED state depending on the LDR values}
+% \label{fig:ldrxcosled}
+% \end{figure}
+
+% \begin{figure}
+% \centering
+% \includegraphics[width=\lgfig]{\LocLDRfig/ldr-led-out.png}
+% \caption{LDR output and corresponding LED input}
+% \label{fig:ldrledout}
+% \end{figure}
+%%%%%%%%%%%%%%%%%OpenModelica ends
diff --git a/user-code/ldr/ldr-base.tex b/user-code/ldr/ldr-base.tex
new file mode 100644
index 0000000..caac9cf
--- /dev/null
+++ b/user-code/ldr/ldr-base.tex
@@ -0,0 +1,211 @@
+\chapter {Interfacing a Light Dependent Resistor}

+\thispagestyle{empty}

+\label{ldr}

+

+\newcommand{\LocLDRfig}{\Origin/user-code/ldr/figures}

+\newcommand{\LocLDRscicode}{\Origin/user-code/ldr/scilab}

+\newcommand{\LocLDRscibrief}[1]{{\tt

+      \seqsplit{Origin/user-code/ldr/scilab/#1}},

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

+\newcommand{\LocLDRardcode}{\Origin/user-code/ldr/arduino}

+\newcommand{\LocLDRardbrief}[1]{{\tt

+      \seqsplit{Origin/user-code/ldr/arduino/#1}},

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

+

+%%%%%%%%%python

+\newcommand{\LocLDRpycode}{\Origin/user-code/ldr/python}

+\newcommand{\LocLDRpybrief}[1]{{\tt \seqsplit{%

+        Origin/user-code/ldr/python/#1}}, see \fnrefp{fn:file-loc}}

+%%%%%%python

+

+%%%%%%%%%julia starts

+\newcommand{\LocLDRjuliacode}{\Origin/user-code/ldr/julia}

+\newcommand{\LocLDRjuliabrief}[1]{{\tt \seqsplit{%

+        Origin/user-code/ldr/julia/#1}}, see \fnrefp{fn:file-loc}}

+%%%%%%julia ends

+

+%%%%%%OpenModelica Starts

+\newcommand{\LocLDROpenModelicacode}{\Origin/user-code/ldr/OpenModelica}  %added for OpenModelica

+\newcommand{\LocLDROpenModelicabrief}[1]{{\tt \seqsplit{%

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

+

+%%%%%OpenModelcia Ends

+

+

+A Light Dependent Resistor (LDR) or Photoresistor is a light sensitive

+semiconductor device whose resistance varies with the variation in the

+intensity of light falling on it. As the intensity of the incident

+light increases, resistance offered by the LDR decreases. Typically,

+in dark, the resistance offered by an LDR is in the range of a few

+mega ohms. With the increase in light intensity, the resistance

+reduces to as low as a few ohms.   

+

+An LDR is widely used in camera shutter control, light intensity

+meters, burglar alarms, street lighting control, automatic emergency

+lights, etc. In this chapter we shall interface an LDR with the

+\arduino\ board.  

+

+\section{Preliminaries}

+A typical LDR and its symbolic representation are shown in

+\figref{fig:ldr} and \figref{fig:ldrsym} respectively. The shield

+provided with the kit has an LDR mounted on it.  The LDR mounted on

+the shield looks exactly like the picture in \figref{fig:ldr},

+although, the picture looks a lot larger.  This LDR is connected

+to the analog pin 5 of the \arduino\ board. The connections for this

+experiment are shown in \figref{fig:ldrconn}. However, the user

+doesn't need to connect any wire or component explicitly.

+

+\begin{figure}

+  \centering

+  \subfloat[Pictorial representation of an LDR]{

+    \includegraphics[width=\smfig]{\LocLDRfig/ldr.jpg}

+    \label{fig:ldr}} \hfill

+  \subfloat[Symbolic representation of an LDR]{

+    \includegraphics[width=\smfig]{\LocLDRfig/ldr_sym.png}

+    \label{fig:ldrsym}}

+  \caption{Light Dependent Resistor}

+\end{figure}

+

+\begin{figure}

+  \centering

+  \includegraphics[width=\smfig]{\LocLDRfig/ldr-conn.png}

+  \caption{Internal connection diagram for the LDR on the shield}

+  \label{fig:ldrconn}

+\end{figure}

+

+The LDR mounted on the shield is an analog sensor. Hence, the analog voltage, corresponding to the changing resistance, across its terminals needs to be digitized before being sent to the computer. This is taken care of by an onboard Analog to Digital Converter (ADC) of ATmega328 microcontroller on the \arduino\

+board. ATmega328 has a 6-channel, 0 through 5, 10 bit ADC. Analog pin

+5 of the \arduino\ board, to which the LDR is connected, corresponds

+to channel 5 of the ADC.  As there are 10 bits, 0-5V readings from LDR

+are mapped to the ADC values from 0 to 1023. 

+

+LDR is a commonly available sensor in the market. It costs about

+Rs. 100. There are multiple manufacturers which provide commercial

+LDRs.  Some examples are VT90N1 and VT935G from EXCELITAS TECH, and

+N5AC501A085 and NSL19M51 from ADVANCED PHOTONIX. 

+

+\section{Connecting an LDR with \arduino\ using a breadboard}

+This section is useful for those who either don't have a shield or don't want to use the shield

+for performing the experiments given in this chapter. 

+

+A breadboard is a device for holding the components of a circuit and connecting 

+them together. We can build an electronic circuit on a breadboard without doing any 

+soldering. To know more about the breadboard and other electronic components, 

+one should watch the Spoken Tutorials on Arduino as published on

+  {\tt https://spoken-tutorial.org/}. Ideally, one should go through all the

+tutorials labeled as Basic. However, we strongly recommend the readers should

+watch the fifth and sixth tutorials, i.e., {\tt First Arduino Program} and 

+  {\tt Arduino with Tricolor LED and Push button}.

+

+\begin{figure}

+  \centering

+  \includegraphics[width=\textwidth]{\LocLDRfig/LDR.png}

+  \caption{An LDR to read its values with \arduino\ using a breadboard}

+  %\redcolor{connected on pin no. D12}}

+  \label{fig:ard-ldr}

+\end{figure}

+

+In case you have an LDR, and you want to connect it with \arduino\ on a breadboard, 

+please refer to \figref{fig:ard-ldr}. The connections given in this figure can be 

+used to read the voltage values from an LDR connected to the analog pin 5 on 

+\arduino\ board. As shown in \figref{fig:ard-ldr}, one leg of the LDR is connected 

+to 5V on \arduino\ and the other leg to the analog pin 5 on  \arduino. A resistor is also connected to the same leg and grounded. 

+From \figref{fig:ldrconn} and \figref{fig:ard-ldr}, one can infer that a resistor 

+along with the LDR is used to create a voltage divider circuit. The varying 

+resistance of the LDR is converted to a varying voltage. Finally, this voltage is used 

+by the analog pin 5 of \arduino\ in its logic. 

+

+The connections shown in \figref{fig:ard-ldr-led} can be used to control an RGB LED, 

+depending on the voltage values from the LDR. As shown in \figref{fig:ard-ldr-led}, 

+digital pin 11 on \arduino\ is connected to the leftmost leg of the RGB LED. Rest of the connections

+are same as that in \figref{fig:ard-ldr}. 

+

+\begin{figure}

+  \centering

+  \includegraphics[width=\textwidth]{\LocLDRfig/LDR-led.png}

+  \caption{An LDR to control an LED with Arduino Uno using a breadboard}

+  %\redcolor{connected on pin no. D12}}

+  \label{fig:ard-ldr-led}

+\end{figure}

+

+

+\section{Interfacing the LDR through the Arduino IDE}

+\subsection{Interfacing the LDR}

+In this section, we shall describe an experiment that will help 

+to read the voltage values from an LDR connected to the analog pin 5 

+of the \arduino\ board. Later, the read values will be used to change the state of an LED.  The shield has to be attached to the \arduino\ board

+before doing these experiments 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.

+

+\begin{enumerate}

+  \item A simple code to read the LDR values is given in

+        \ardref{ard:ldr-read}. As discussed earlier, the 0-5V LDR readings

+        are mapped to 0-1023 through an ADC. The 

+        %\redcolor{Arduino IDE}\ 

+        Arduino IDE

+        based command for the analog read functionality is given by,

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

+        {\LocLDRardcode/ldr-read/ldr-read.ino} where {\tt A5} represents the

+        analog pin 5 to be read and the read LDR values are stored in the

+        variable {\tt val}.  The read values are then displayed using,

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

+        {\LocLDRardcode/ldr-read/ldr-read.ino} The delay in the code  

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

+        {\LocLDRardcode/ldr-read/ldr-read.ino} is added so that the readings

+        do not scroll away very fast.  The entire reading and display

+        operation is carried out 50 times. 

+        

+        To observe the values, one has to open the {\tt Serial Monitor} of

+        the Arduino IDE.  The numbers displayed are in the range 0 to 1023

+        and depend on the light falling on the LDR.  If one does the

+        experiment in a completely dark room, the reading will be 0.  If on

+        the other hand, a bright light, say for instance the torch light

+        from mobile, is shined, the value displayed is close to 1023.  One

+        will get intermediate values by keeping one's finger on the LDR. 

+        While running this experiment, the readers must keep their fingertips on the LDR and

+        observe the change in values being printed on the

+          {\tt Serial Monitor} of Arduino IDE.

+        

+  \item This experiment is an extension of the previous

+        experiment. Here, depending the resistance of the LDR, we will

+        turn the red LED on.  The program for this is available at

+        \ardref{ard:ldr-led}.  The value of LDR is read and stored in {\tt

+            val}.  In case it is below some threshold (like 300 in \ardref{ard:ldr-led}), 

+        it puts a high in pin number 11.  From \secref{sec:led-pril}, 

+        one can note that this pin is for the red LED.  If the LDR value is below 300, 

+        the red LED will be on, else, it will be turned off.  While running this experiment, the readers 

+        must keep their fingertips on the LDR so that the threshold is achieved. Accordingly, 

+        they can observe whether the red LED is turned on. 

+\end{enumerate}

+

+\begin{exercise}

+  Carry out the following exercise:

+  \begin{enumerate}

+    \item Carry out the experiment in a dark room and check what values

+          get displayed on the {\tt Serial Monitor}.

+    \item Carry out the experiment with the torch light from the mobile

+          phone shining on the LDR.

+  \end{enumerate}

+\end{exercise}

+

+\subsection{Arduino Code}

+\label{sec:ldr-arduino-code}

+\addtocontents{ard}{\protect\addvspace{\codclr}}

+

+\begin{ardcode}

+  \acaption{Read and display the LDR values}

+  {Read and display the LDR values.  Available at

+    \LocLDRardbrief{ldr-read/ldr-read.ino}.}

+  \label{ard:ldr-read}

+  \lstinputlisting{\LocLDRardcode/ldr-read/ldr-read.ino}

+\end{ardcode}

+

+\begin{ardcode}

+  \acaption{Turning the red LED on and off}

+  {Turning the red LED on and off.  Available at

+    \LocLDRardbrief{ldr-led/ldr-led.ino}.}

+  \label{ard:ldr-led}

+  \lstinputlisting{\LocLDRardcode/ldr-led/ldr-led.ino}

+\end{ardcode}

+

diff --git a/user-code/ldr/ldr-julia.tex b/user-code/ldr/ldr-julia.tex
new file mode 100644
index 0000000..8a4183a
--- /dev/null
+++ b/user-code/ldr/ldr-julia.tex
@@ -0,0 +1,75 @@
+\section{Interfacing the LDR through Julia}
+\subsection{Interfacing the LDR}
+In this section, we discuss how to carry out the experiments of the
+previous section from Julia.  We will list the same two experiments,
+in the same order.  The shield has to be attached to the \arduino\ board
+before doing these experiments 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.
+
+
+\begin{enumerate}
+  \item In the first experiment, we will read the LDR values. The code for this experiment is given in
+        \juliaref{julia:ldr-read}. As explained earlier in \secref{sec:light-julia}, we begin with importing the SerialPorts 
+        \cite{julia-serial-ports} package and the module ArduinoTools followed by setting up the serial port.
+        Then, we read the input coming from analog pin 5 using the 
+        following command:
+        \lstinputlisting[firstline=6,lastline=6]
+        {\LocLDRjuliacode/ldr-read.jl} Note that the one leg of the LDR on
+        the shield is connected to analog pin 5 of \arduino\, 
+        as given in \figref{fig:ldrconn}. The read value is displayed 
+        by the following command: 
+        \lstinputlisting[firstline=7,lastline=7]
+        {\LocLDRjuliacode/ldr-read.jl} where {\tt val} contains
+        the LDR values ranging from 0 to 1023. If one does the experiment in a completely dark room, the
+        reading will be 0. If on the other hand, a bright light, say for instance the torch
+        light from mobile, is shined, the value displayed is close to 1023. One will get
+        intermediate values by keeping one's finger on the LDR. To
+        encourage the user to have a good hands-on, we run these commands in
+        a {\tt for} loop for 50 iterations. While running this experiment, the readers must keep their fingertips on the LDR and
+        observe the change in values being printed on on the
+        Command Prompt (on Windows) or Terminal (on Linux), as the case maybe.
+        
+        
+  \item This experiment is an extension of the previous experiment. Here, depending the resistance of the LDR, we will
+        turn the red LED on.  The program for this is available at
+        \juliaref{julia:ldr-led}.  The value of LDR is read and stored in {\tt
+            val}.  In case it is below some threshold (like 300 in \juliaref{julia:ldr-led}), 
+        it puts a high in pin number 11. From \secref{sec:led-pril}, 
+        one can note that this pin is for the red LED.  If the LDR value is below 300, 
+        the red LED will be on, else, it will be turned off.  
+        While running this experiment, the readers 
+        must keep their fingertips on the LDR so that the threshold is achieved. Accordingly, 
+        they can observe whether the red LED is turned on. 
+\end{enumerate}
+
+\begin{exercise}
+  Carry out the exercise below:
+  \begin{enumerate}
+    \item Carry out the exercise in the previous section.
+    \item Calculate the difference in LDR readings in indoor room
+          before lighting the lamp and after lighting the lamp. You can also
+          record changes in the room lighting at different times of the day.
+  \end{enumerate}
+\end{exercise}
+
+\subsection{Julia Code}
+\label{sec:ldr-julia-code}
+\addtocontents{juliad}{\protect\addvspace{\codclr}}
+
+\begin{juliacode}
+  \jcaption{Read and display the LDR values}
+  {Read and display the LDR values.  Available at
+    \LocLDRjuliabrief{ldr-read.jl}.}
+  \label{julia:ldr-read}
+  \lstinputlisting{\LocLDRjuliacode/ldr-read.jl}
+\end{juliacode}
+
+\begin{juliacode}
+  \jcaption{Turning the red LED on and off}
+  {Turning the red LED on and off.  Available at
+    \LocLDRjuliabrief{ldr-led.jl}.}
+  \label{julia:ldr-led}
+  \lstinputlisting{\LocLDRjuliacode/ldr-led.jl}
+\end{juliacode}
+
diff --git a/user-code/ldr/ldr-python.tex b/user-code/ldr/ldr-python.tex
new file mode 100644
index 0000000..89e4b71
--- /dev/null
+++ b/user-code/ldr/ldr-python.tex
@@ -0,0 +1,87 @@
+\section{Interfacing the LDR through Python}
+\subsection{Interfacing the LDR}
+In this section, we discuss how to carry out the experiments of the
+previous section from Python.  We will list the same two experiments,
+in the same order.  The shield has to be attached to the \arduino\ board
+before doing these experiments 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.
+
+\begin{enumerate}
+  \item In the first experiment, we will read the LDR values. The code for this experiment is given in
+        \pyref{py:ldr-read}. As explained earlier in \secref{sec:light-py}, we begin with 
+        importing necessary modules followed by setting up the serial port. 
+        Then, we read the input coming from analog pin 5 using the
+        following command:
+        \lstinputlisting[firstline=25,lastline=25]
+        {\LocLDRpycode/ldr-read.py} Note that the one leg of the LDR on
+        the shield is connected to analog pin 5 of \arduino\, 
+        as given in \figref{fig:ldrconn}. The read value is displayed 
+        by the following command: 
+        \lstinputlisting[firstline=26,lastline=26]
+        {\LocLDRpycode/ldr-read.py} where {\tt val} contains
+        the LDR values ranging from 0 to 1023. If one does the experiment in a completely dark room, the
+        reading will be 0. If on the other hand, a bright light, say for instance the torch
+        light from mobile, is shined, the value displayed is close to 1023. One will get
+        intermediate values by keeping one's finger on the LDR. To
+        encourage the user to have a good hands-on, we run these commands in
+        a {\tt for} loop for 50 iterations. While running this experiment, the readers must keep their fingertips on the LDR and
+        observe the change in values being printed on on the
+        Command Prompt (on Windows) or Terminal (on Linux), as the case maybe.
+        
+  \item This experiment is an extension of the previous experiment. Here, depending the resistance of the LDR, we will
+        turn the red LED on.  The program for this is available at
+        \pyref{py:ldr-led}.  The value of LDR is read and stored in {\tt
+            val}.  In case it is below some threshold (like 300 in \pyref{py:ldr-led}), 
+        it puts a high in pin number 11.  From \secref{sec:led-pril}, 
+        one can note that this pin is for the red LED.  If the LDR value is below 300, 
+        the red LED will be on, else, it will be turned off.  
+        While running this experiment, the readers 
+        must keep their fingertips on the LDR so that the threshold is achieved. Accordingly, 
+        they can observe whether the red LED is turned on. 
+        
+        
+        % In this experiment, we will observe the saturation point of LDR,
+        %   see \pyref{py:ldr-led}.  We know that as incident light intensity
+        %   increases, voltage at analog input of the \arduino\ board
+        %   increases. Thus the ADC values being read by the \arduino\ board also
+        %   increase. But after certain high intensity, ADC values reach its
+        %   maximum. For 10 bit ADC in Arduino, this high intensity corresponds
+        %   to 1023.  Beyond this value, the LDR is incapable of sensing the
+        %   change in light intensity and is considered to be saturated. To
+        %   observe this saturation point, we can do a simple task of exposing
+        %   LDR to high intensity. We can put a torch/light source sensor to
+        %   close proximity of LDR.
+\end{enumerate}
+
+\begin{exercise}
+  Carry out the exercise below:
+  \begin{enumerate}
+    \item Carry out the exercise in the previous section.
+    \item Calculate the difference in LDR readings in indoor room
+          before lighting the lamp and after lighting the lamp. You can also
+          record changes in the room lighting at different times of the day.
+  \end{enumerate}
+\end{exercise}
+
+\subsection{Python Code}
+\label{sec:ldr-python-code}
+\addtocontents{pyd}{\protect\addvspace{\codclr}}
+
+\begin{pycode}
+  \pcaption{Read and display the LDR values}
+  {Read and display the LDR values.  Available at
+    \LocLDRpybrief{ldr-read.py}.}
+  \label{py:ldr-read}
+  \lstinputlisting{\LocLDRpycode/ldr-read.py}
+\end{pycode}
+
+\begin{pycode}
+  \pcaption{Turning the red LED on and off}
+  {Turning the red LED on and off.  Available at
+    \LocLDRpybrief{ldr-led.py}.}
+  \label{py:ldr-led}
+  \lstinputlisting{\LocLDRpycode/ldr-led.py}
+\end{pycode}
+
diff --git a/user-code/ldr/ldr-scilab.tex b/user-code/ldr/ldr-scilab.tex
new file mode 100644
index 0000000..70c31c5
--- /dev/null
+++ b/user-code/ldr/ldr-scilab.tex
@@ -0,0 +1,246 @@
+\section{Interfacing the LDR through Scilab}
+\subsection{Interfacing the LDR}
+In this section, we discuss how to carry out the experiments of the
+previous section from Scilab. We will list the same two experiments,
+in the same order.  The shield has to be attached to the \arduino\ board
+before doing these experiments 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. 
+
+% In this section, we will explain a few Scilab experiments to read the
+% LDR values corresponding to the incident light. The LDR values can be
+% read using the following function of Scilab Arduino toolbox:
+% \begin{lstlisting}[style=nonumbers]
+%   cmd_analog_in(1,port number on Arduino Uno)
+% \end{lstlisting}
+% where the input argument 1 is fixed for this kit, and the port number corresponds to the analog pin of \arduino that needs to be read.  We will carry out two experiments using Scilab.
+
+\begin{enumerate}
+  \item In the first experiment, we will read the LDR values and display it in
+        \scilab\ Console. The code for this experiment is 
+        given in  \sciref{sci:ldr-read}. As explained earlier in \secref{sec:light-sci}, 
+        we begin with serial port initialization. Then, we read the input coming from
+        analog pin 5 using the following command:  
+        \lstinputlisting[firstline=4,lastline=4]
+        {\LocLDRscicode/ldr-read.sce}
+        Note that the one leg of the LDR on
+        the shield is connected to analog pin 5 of \arduino\, 
+        as given in \figref{fig:ldrconn}. The read value is displayed in the 
+        \scilab\ Console by the following command: 
+        \lstinputlisting[firstline=5,lastline=5]
+        {\LocLDRscicode/ldr-read.sce} where {\tt val} contains
+        the LDR values ranging from 0 to 1023. If one does the experiment in a completely dark room, the
+        reading will be 0. If on the other hand, a bright light, say for instance the torch
+        light from mobile, is shined, the value displayed is close to 1023. One will get
+        intermediate values by keeping one’s finger on the LDR. To
+        encourage the user to have a good hands-on, we run these commands in
+        a {\tt for} loop for 50 iterations. While running this experiment, the readers must keep their fingertips on the LDR and
+        observe the change in values being printed on the \scilab\ Console. 
+        
+        
+        % We use \sciref{sci:ldr-read} to read the LDR values.  We find the
+        %   port number from the computer settings and give it as input to the
+        %   {\tt open\_serial} command to start serial port communication. In
+        %   our case, the port number is 2. Next, we shall fetch LDR values
+        %   using the command, {\tt cmd\_analog\_in}, as explained above. This
+        %   is indicated on line 4 of the code. We run this command in a {\tt
+        %     for} loop 20 times. In each iteration of the {\tt for} loop, we
+        %   acquire LDR data fed to analog pin 5, display it in the Scilab
+        %   command window and suspend Scilab operation for 500
+        %   milliseconds. The output of this experiment is displayed on the Scilab command
+        %   window. After reading the values, we close the serial port using the
+        %   command, {\tt close\_serial}, of Scilab-Arduino toolbox.
+        
+        % \item In this experiment, we will observe the saturation point of LDR,
+        %   see \sciref{sci:ldr-led}.  We know that as incident light intensity
+        %   increases, voltage at analog input of the \arduino\ board
+        %   increases. Thus the ADC values being read by the \arduino\ board also
+        %   increase. But after certain high intensity, ADC values reach its
+        %   maximum. For 10 bit ADC in Arduino, this high intensity corresponds
+        %   to 1023.  Beyond this value, the LDR is incapable of sensing the
+        %   change in light intensity and is considered to be saturated. To
+        %   observe this saturation point, we can do a simple task of exposing
+        %   LDR to high intensity. We can put a torch/light source sensor to
+        %   close proximity of LDR.
+  \item This experiment is an extension of the previous
+        experiment. Here, depending on the resistance of the LDR, we will
+        turn the red LED on.  The program for this is available at
+        \sciref{sci:ldr-led}.  The value of LDR is read and stored in {\tt
+            val}.  In case it is below some threshold (like 300 in \ardref{ard:ldr-led}), 
+        it puts a high in pin number 11.  From \secref{sec:led-pril}, 
+        one can note that this pin is for the red LED.  If the LDR value is below 300, 
+        the red LED will be on, else, it will be turned off.  
+        While running this experiment, the readers 
+        must keep their fingertips on the LDR so that the threshold is achieved. Accordingly, 
+        they can observe whether the red LED is turned on. 
+\end{enumerate}
+
+\begin{exercise}
+  Carry out the exercise below:
+  \begin{enumerate}
+    \item Carry out the exercise in the previous section.
+    \item Calculate the difference in LDR readings in indoor room
+          before lighting the lamp and after lighting the lamp. You can also
+          record changes in the room lighting at different times of the day.
+  \end{enumerate}
+\end{exercise}
+
+\subsection{Scilab Code}
+\label{sec:ldr-scilab-code}
+\addtocontents{cod}{\protect\addvspace{\codclr}}
+
+\begin{scicode}
+  \ccaption{Read and display the LDR values}
+  {Read and display the LDR values.  Available at
+    \LocLDRscibrief{ldr-read.sce}.}
+  \label{sci:ldr-read}
+  \lstinputlisting{\LocLDRscicode/ldr-read.sce}
+\end{scicode}
+
+\begin{scicode}
+  \ccaption{Turning the red LED on and off}
+  {Turning the red LED on and off.  Available at
+    \LocLDRscibrief{ldr-led.sce}.}
+  \label{sci:ldr-led}
+  \lstinputlisting{\LocLDRscicode/ldr-led.sce}
+\end{scicode}
+
+\section{Interfacing the LDR through Xcos}
+Next, we shall perform the above mentioned experiments, to read LDR
+values, through Xcos.  We will carry out the same two experiments as in the previous
+sections.  For each, 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.
+
+\begin{enumerate}
+  \item First we will read the LDR values and display it.  When the
+        file required for this experiment is invoked, one gets the GUI as in
+        \figref{fig:ldr-read}.  In the caption of this figure, one
+        can see where to locate the file. 
+        
+        As discussed in earlier chapters, we start with the initialization
+        of the serial port. Next, using {\tt Analog Read} block, we read
+        the values of LDR connected on analog pin 5. Next, we use a scope to plot the values 
+        coming from this pin. When this Xcos file is simulated, a plot is opened, 
+        as shown in \figref{fig:ldr-read-plot}. 
+        
+        \begin{figure}
+          \centering
+          \includegraphics[width=\smfig]{\LocLDRfig/ldr-read-xcos.PNG}
+          \caption[Xcos diagram to read LDR values]{Xcos diagram to read LDR
+            values.  
+            This is what one sees when 
+            \LocLDRscibrief{ldr-read.zcos}, is invoked.}
+          \label{fig:ldr-read}
+        \end{figure}
+        
+        \begin{figure}
+          \centering
+          \includegraphics[width=\hgfig]{\LocLDRfig/ldr-read-plot.PNG}
+          \caption{Plot window in Xcos to read LDR values}
+          \label{fig:ldr-read-plot}
+        \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:ldr-read}.  All other parameters are to
+        be left unchanged.
+        \begin{table}
+          \centering
+          \caption{Xcos parameters to read LDR}
+          \label{tab:ldr-read}
+          \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
+            ANALOG\_READ\_SB  & Analog Pin                 & 5         \\
+                              & Arduino card number        & 1         \\ \hline
+            CSCOPE            & Ymin                       & 0         \\ 
+                              & Ymax                       & 1023      \\
+                              & Refresh period             & 100       \\ \hline
+            CLOCK\_c          & Period                     & 0.1       \\
+                              & Initialisation Time        & 0         \\ \hline
+          \end{tabular}
+        \end{table}
+        
+        During this experiment, we vary the light incident on LDR by using
+        light sources and obstacles such as torch light, paper,
+        hand (or fingertips), etc. and observe the LDR readings in the plot, as shown in 
+        \figref{fig:ldr-read-plot}. We observe that with a constant light source, the LDR output saturates after some time. 
+        %The output for this experiment is shown in \figref{fig:ldrsatout}.
+        
+        %   \begin{figure}
+        %     \centering
+        %     \includegraphics[width=\lgfig]{\LocLDRfig/ldr-sat-out.png}
+        %     \caption[LDR output for varying intensity of incident light, as
+        %     seen in Xcos] {LDR output for varying intensity of
+        %       incident light, as seen in Xcos.  This is what one sees when
+        %       {\tt \LocLDRscibrief/ldr-read-xcos.zcos} is invoked.}
+        %     \label{fig:ldrsatout}
+        %   \end{figure}
+        
+  \item In the second experiment, we take a step further and control the
+        state of red LED in accordance with the LDR values. When the file required for this
+        experiment is invoked, one gets the GUI as in \figref{fig:ldr-led}.
+        In the caption of this figure, one can see where to locate the file.
+        
+        \begin{figure}
+          \centering
+          \includegraphics[width=\lgfig]{\LocLDRfig/ldr-led-2.png}
+          %    \includegraphics[width=\smfig]{\LocLDRfig/ldr-led-xcos.PNG}
+          \caption[Xcos diagram to read the value of the LDR, which is used
+            to turn the blue LED on or off] {Xcos diagram to read the value of
+            the LDR, which is used to turn the blue LED on or off.  This is
+            what one sees when \LocLDRscibrief{ldr-led-xcos.zcos}, is
+            invoked.}
+          \label{fig:ldr-led}
+        \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:ldr-led}.  In the CSCOPE\_c block, the
+        two values correspond to two graphs, one for digital write and other
+        for analog read values. All other parameters are to be left
+        unchanged. When this Xcos file is simulated, a plot is opened, 
+        as shown in \figref{fig:ldr-led-read-plot}. 
+        
+        \begin{figure}
+          \centering
+          \includegraphics[width=\hgfig]{\LocLDRfig/ldr-led-read-plot.PNG}
+          \caption{Plot window in Xcos to read LDR values and the state of LED}
+          \label{fig:ldr-led-read-plot}
+        \end{figure}
+        
+        \begin{table}
+          \centering
+          \caption{Xcos parameters to read LDR and regulate blue LED}
+          \label{tab:ldr-led}
+          \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
+            ANALOG\_READ\_SB   & Analog pin                 & 5         \\
+                               & Arduino card number        & 1         \\ \hline
+            CMSCOPE            & Ymin                       & 0 0       \\ 
+                               & Ymax                       & 1 1023    \\
+                               & Refresh period             & 100 100   \\ \hline
+            CLOCK\_c           & Period                     & 0.1       \\
+                               & Initialisation time        & 0         \\ \hline
+            SWITCH2\_m         & Datatype                   & 1         \\
+                               & threshold                  & 300       \\
+                               & pass first input if field  & 0         \\
+                               & use zero crossing          & 1         \\ \hline
+            DIGITAL\_WRITE\_SB & Digital pin                & 9         \\
+                               & Arduino card number        & 1         \\ \hline
+          \end{tabular}
+        \end{table}
+\end{enumerate}
+
diff --git a/user-code/led/led-OM.tex b/user-code/led/led-OM.tex
new file mode 100644
index 0000000..85a199d
--- /dev/null
+++ b/user-code/led/led-OM.tex
@@ -0,0 +1,115 @@
+\section{Lighting the LED from OpenModelica}
+\subsection{Lighting the LED}
+\label{sec:light-OpenModelica}
+In this section, we discuss how to carry out the experiments of the
+previous section from OpenModelica.  We will list the same four experiments,
+in the same order.  The shield has to be attached to the \arduino\ board
+before doing these experiments 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.
+
+\begin{enumerate}
+  \item In the first experiment, we will light up the blue LED on the
+        shield.  The code for this is given in \OpenModelicaref{OpenModelica:led-blue}.
+        It begins with importing the two packages: Streams and SerialCommunication from the toolbox, as 
+        given in \secref{sec:load-om-toolbox}. Following line imports this package: 
+        \lstinputlisting[firstline=3,lastline=4]{\LocLEDOpenModelicacode/led-blue.mo}
+
+    We define some variables to collect the results coming from different functions. Following 
+    lines are used for these:
+    \lstinputlisting[firstline=5,lastline=7]{\LocLEDOpenModelicacode/led-blue.mo}
+
+    Now, we have a command of the form 
+        \begin{lstlisting}[style=nonumbers]
+     ok := sComm.open_serial(1, PORT NUMBER, BAUD RATE)
+  \end{lstlisting}
+        We have used 2 for {\tt PORT NUMBER} and 115200 for {\tt BAUD RATE}.
+        As a result, this command becomes 
+        \lstinputlisting[firstline=10,lastline=10]{\LocLEDOpenModelicacode/led-blue.mo}
+        This command is used to open the serial port.  When the port is
+        opened successfully, it returns a value of 0, which gets stored in
+        the variable {\tt ok}.
+        
+        Sometimes, the serial port does not open, as mentioned in the above
+        command.  This is typically due to not closing the serial port
+        properly in a previous experiment.  If this condition is not
+        trapped, the program will wait forever, without any information
+        about this difficulty.  One way to address this difficulty is to
+        terminate the program if the serial port does not open.  This is
+        achieved using the error message of the following form:
+        \begin{lstlisting}[style=nonumbers]
+            if ok <> 0 then strm.print(Error Message in Quotes);
+        \end{lstlisting}
+
+        We turn the LED on in the upcoming lines.  This is achieved using a
+        command of the form
+        \begin{lstlisting}[style=nonumbers]
+          digital_out := sComm.cmd_digital_out(1, PIN NUMBER, VALUE)
+  \end{lstlisting}
+        As we want to turn on the blue light in the shield, as discussed in
+        \secref{sec:light-ard}, we choose {\tt PIN NUMBER} as 9.  We can put
+        any positive integer in the place of {\tt VALUE}.  We arrive at the
+        following command:
+        \lstinputlisting[firstline=15,lastline=15]{\LocLEDOpenModelicacode/led-blue.mo}
+        Subsequently, we close the serial port and then define the simulation parameters. 
+  \item \OpenModelicaref{OpenModelica:led-blue-delay} does the same thing as what
+        \ardref{ard:led-blue-delay} does.  It does two more things than what
+        \OpenModelicaref{OpenModelica:led-blue} does: It makes the blue LED light up for two
+        seconds.  This is achieved by the command
+        \lstinputlisting[firstline=16,lastline=16]{\LocLEDOpenModelicacode/led-blue-delay.mo}
+        The second thing this code does is to turn the blue LED off.  This
+        is achieved by the command
+        \lstinputlisting[firstline=17,lastline=17]{\LocLEDOpenModelicacode/led-blue-delay.mo}
+        It is easy to see that this code puts a 0 on pin 9.
+        
+  \item \OpenModelicaref{OpenModelica:led-blue-red} does the same thing as what
+        \ardref{ard:led-blue-red} does.  It turns blue and red LEDs on for
+        five seconds.  After that, it turns off blue first.  After 3
+        seconds, it turns off red also.  So, when the program ends, no LED is
+        lit up.
+        
+  \item \OpenModelicaref{OpenModelica:led-green-blink} does exactly what its counterpart
+        in the Arduino IDE does.  It makes the green LED blink five times.
+  \end{enumerate}
+
+\subsection{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. 
+\lstset{style=mystyle}
+\label{sec:led-OpenModelica-code}
+\addtocontents{OpenModelicad}{\protect\addvspace{\codclr}}
+
+\begin{OpenModelicacode}
+  \mcaption{Turning on the blue LED}
+  {Turning on the blue LED. Available at Arduino -> SerialCommunication -> 
+  Examples -> led -> led\_blue.}
+  \label{OpenModelica:led-blue}
+  \lstinputlisting{\LocLEDOpenModelicacode/led-blue.mo}
+\end{OpenModelicacode}
+
+\begin{OpenModelicacode}
+  \mcaption{Turning on the blue LED and turning it off after two
+    seconds}{Turning on the blue LED and turning it off after two
+    seconds.  Available at Arduino -> SerialCommunication -> Examples -> led 
+    -> led\_blue\_delay.}
+  \label{OpenModelica:led-blue-delay}
+  \lstinputlisting{\LocLEDOpenModelicacode/led-blue-delay.mo}
+\end{OpenModelicacode}
+
+\begin{OpenModelicacode}
+  \mcaption{Turning on blue and red LEDs for 5 seconds and then turning
+    them off one by one}{Turning on blue and red LEDs for 5 seconds and
+    then turning them off one by one.  Available at Arduino -> SerialCommunication -> Examples -> led -> led\_blue\_red.}
+  \label{OpenModelica:led-blue-red}
+  \lstinputlisting{\LocLEDOpenModelicacode/led-blue-red.mo}
+\end{OpenModelicacode}
+
+\begin{OpenModelicacode}
+  \mcaption{Blinking the green LED}{Blinking the green LED.  Available at Arduino -> SerialCommunication -> Examples -> led -> led\_green\_blink.}
+  \label{OpenModelica:led-green-blink}
+  \lstinputlisting{\LocLEDOpenModelicacode/led-green-blink.mo}
+\end{OpenModelicacode}
+
+%%%%%end OpenModelicamo
diff --git a/user-code/led/led-base.tex b/user-code/led/led-base.tex
new file mode 100644
index 0000000..3ae7daa
--- /dev/null
+++ b/user-code/led/led-base.tex
@@ -0,0 +1,260 @@
+\chapter {Interfacing a Light Emitting Diode}

+\thispagestyle{empty}

+\label{led}

+\newcommand{\LocLEDfig}{\Origin/user-code/led/figures}

+\newcommand{\LocLEDscicode}{\Origin/user-code/led/scilab}

+\newcommand{\LocLEDscibrief}[1]{{\tt \seqsplit{%

+        Origin/user-code/led/scilab/#1}}, see \fnrefp{fn:file-loc}}

+\newcommand{\LocLEDardcode}{\Origin/user-code/led/arduino}

+\newcommand{\LocLEDardbrief}[1]{{\tt \seqsplit{%

+        Origin/user-code/led/arduino/#1}}, see \fnrefp{fn:file-loc}}

+

+\newcommand{\LocLEDpycode}{\Origin/user-code/led/python}  %added for python

+\newcommand{\LocLEDpybrief}[1]{{\tt \seqsplit{%

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

+

+

+\newcommand{\LocLEDjuliacode}{\Origin/user-code/led/julia}  %added for julia

+\newcommand{\LocLEDjuliabrief}[1]{{\tt \seqsplit{%

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

+

+%%%%%%OpenModelica Starts

+\newcommand{\LocLEDOpenModelicacode}{\Origin/user-code/led/OpenModelica}  %added for OpenModelica

+\newcommand{\LocLEDOpenModelicabrief}[1]{{\tt \seqsplit{%

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

+

+%%%%%OpenModelcia Ends

+

+In this chapter, we will learn how to control the LEDs on the shield

+and on the \arduino\ board.  We will do this through the Arduino IDE,

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

+These are beginner level experiments,

+and often referred to as the \emph{hello world} task of Arduino.

+Although simple, controlling LED is a very important task in all

+kinds of electronic boards.

+

+\section{Preliminaries}

+\label{sec:led-pril}

+A light emitting diode (LED) is a special type of semiconductor diode,

+which emits light when voltage is applied across its terminals. A

+typical LED has 2 leads: Anode, the positive terminal and Cathode, the

+negative terminal.  When sufficient voltage is applied, electrons

+combine with the holes, thereby releasing energy in the form of

+photons.  These photons emit light and this phenomenon is known as

+electroluminescence.  The symbolic representation of an LED is shown

+in \figref{fig:ledsym}.  Generally, LEDs are capable of emitting

+different colours.  Changing the composition of alloys that are

+present in LED helps produce different colours.  A popular LED is an

+RGB LED that actually has three LEDs: red, green and blue.

+

+\begin{figure}

+  \centering

+  \includegraphics[width=0.2\linewidth]{\LocLEDfig/led.png}

+  \caption{Light Emitting Diode}

+  \label{fig:ledsym}

+\end{figure}

+

+%\subsection{Connection diagram}

+An RGB LED is present on the shield provided in the kit.  In this

+section, we will see how to light each of the LEDs present in the RGB

+LED.  As a matter of fact, it is possible to create many colours by

+combining these three.  A schematic of the RGB LED in the shield is

+given in \figref{fig:ledblock}.

+\begin{figure}

+  \centering

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

+  \caption{Internal connection diagram for the RGB LED on the shield}

+  \label{fig:ledblock}

+\end{figure}

+The anode pins of red, green, and blue are connected to pins 11, 10, and 9, 

+respectively. Common Cathode is connected to the ground.

+

+It should be pointed out, however, that no wire connections are to be

+made by the learner: all the required connections are already made internally 

+and it is ready to use.  The LED of any colour can be turned on by

+putting a high voltage on the corresponding anode pin.

+

+\begin{figure}

+  \centering

+  \includegraphics[width=\lgfig]{\LocLEDfig/arduino-new-shield.jpeg}

+  \caption{Connecting \arduino\ and shield}

+  \label{fig:uno-shield-connect}

+\end{figure}

+

+One should remember to connect the shield on to the \arduino\ board, as

+shown in \figref{fig:uno-shield-connect}. All the experiments in this

+chapter assume that the shield is connected to the \arduino\ board.

+It is also possible to do some of the experiments without the shield,

+which is pointed out in the next section. 

+

+\section{Connecting an RGB LED with \arduino\ using a breadboard}

+This section is useful for those who either don't have a shield or don't want to use the shield

+for performing the experiments given in this chapter. 

+

+A breadboard is a device for holding the components of a circuit and connecting 

+them together. We can build an electronic circuit on a breadboard without doing any 

+soldering. To know more about the breadboard and other electronic components, 

+one should watch the Spoken Tutorials on Arduino as published on

+{\tt https://spoken-tutorial.org/}. Ideally, one should go through all the

+tutorials labeled as Basic. However, we strongly recommend the readers should

+watch the fifth and sixth tutorials, i.e., {\tt First Arduino Program} and 

+{\tt Arduino with Tricolor LED and Push button}.

+

+In case you have an RGB LED and want to connect it with \arduino\ on a breadboard, 

+please refer to \figref{fig:ard-rgb-bread}. 

+\begin{figure}

+  \centering

+  \includegraphics[width=\hgfig]{\LocLEDfig/rgb-led-bb.png}

+  \caption{An RGB LED with \arduino\ using a breadboard}

+  \label{fig:ard-rgb-bread}

+\end{figure}

+As shown in \figref{fig:ard-rgb-bread}, there is an RGB LED with four legs. 

+From the left, the first leg represents the anode (+) pin for the red LED. 

+The second leg represents the common cathode for every color. 

+The third and fourth legs represent the anode (+) pins for the green LED and blue LED respectively. 

+The anode pins of red, green, and blue are connected to digital pins 11, 10, and 9 of Arduino Uno, respectively. 

+Common cathode is connected to the ground (GND) terminal of Arduino Uno. 

+

+\section{Lighting the LED from the Arduino IDE}

+

+\subsection{Lighting the LED}

+\label{sec:light-ard}

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

+LED light up based on the command given from the Arduino IDE.  We will

+also give the necessary code.  We will present four experiments in

+this section.  The shield has to be attached to the \arduino\ board

+before doing these experiments 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.

+\begin{enumerate}

+  \item First, we will see how to light up the LED in different

+        colours.  An extremely simple code is given in \ardref{ard:led-blue}.

+        On uploading this code, you can see that the LED on the shield turns

+        blue.  It is extremely easy to explain this code.  Recall from the

+        above discussion that we have to put a high voltage (5V) on pin 9 to

+        turn the blue light on.  This is achieved by the following command:

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

+        {\LocLEDardcode/led-blue/led-blue.ino}

+        Before that, we need to define pin 9 as the

+        output pin.  This is achieved by the command,

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

+        {\LocLEDardcode/led-blue/led-blue.ino}

+        One can see that the blue light will be on continuously.  

+        

+  \item Next, we will modify the code slightly so that the blue light

+        remains on for two seconds and then turns off.

+        \ardref{ard:led-blue-delay} helps achieve this.  In this, we

+        introduce a new command {\tt delay} as below:

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

+        {\LocLEDardcode/led-blue-delay/led-blue-delay.ino} This delay

+        command halts the code for the time passed as in input argument. In

+        our case, it is 2,000 milliseconds, or 2 seconds.  The next command,

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

+        {\LocLEDardcode/led-blue-delay/led-blue-delay.ino} puts a low

+        voltage on pin 9 to turn it off.

+        

+        What is the role of the {\tt delay} command?  To find this,

+        comment the delay command.  That is, replace the above delay command

+        with the following and upload the code.

+        \begin{lstlisting}[style=nonumbers]

+    // delay(2000);

+  \end{lstlisting}

+        If you observe carefully, you will see that the LED turns blue

+        momentarily and then turns off.

+        

+  \item We mentioned earlier that it was possible to light more than one

+        LED simultaneously.  We will now describe this with another

+        experiment.  In this, we will turn on both blue and red LEDs.  We

+        will keep both of them on for 5 seconds and then turn blue off,

+        leaving only red on.  After 3 seconds, we will turn red also off.

+        This code is given in \ardref{ard:led-blue-red}.  Remember that

+        before writing either {\tt HIGH} or {\tt LOW} on to any pin, its

+        mode has to be declared as {\tt OUTPUT}, as given in the code.  All

+        the commands in this code are self explanatory.

+        

+  \item Finally, we will give a hint of how to use the programming

+        capabilities of the Arduino IDE.  For this, we will use

+        \ardref{ard:led-blink}.  It makes the LED blink 5 times.  Recall

+        from the previous section that a {\tt HIGH} on pin 10 turns on the

+        green LED.  This cycle is executed for a total of five times.  In each

+        iteration, it will turn the green LED on for a second by giving the

+          {\tt HIGH} signal and then turn it off for a second by giving the

+          {\tt LOW} signal.  This cycle is carried out for a total of 5 times,

+        because of the {\tt for} loop.

+\end{enumerate}

+

+\paragraph{Note:}

+All the above four experiments have been done with

+the shield affixed to the \arduino\ board.  One may run these

+experiments without the shield as well.  But in this case, pin number

+13 has to be used in all experiments, as pin 13 lights up the LED that

+is on the \arduino\ board.  For example, in \ardref{ard:led-blue}, one

+has to replace both occurrences of number 9 with 13.  In this case,

+one will get the LED of \arduino\ board light up, as shown in

+\figref{fig:led-uno}.

+\begin{figure}

+  \centering

+  \includegraphics[width=\hgfig]{\LocLEDfig/led_output.png}

+  \caption{LED experiments directly on \arduino\ board, without the

+    shield}

+  \label{fig:led-uno}

+\end{figure}

+

+

+\paragraph{Note:} It should also be pointed out that only one colour

+is available in \arduino\ board.  As a result, it is not possible to

+conduct the experiments that produce different colours if the

+shield is not used.

+

+\begin{exercise}

+  Carry out the following exercise:

+  \begin{enumerate}

+    \item In \ardref{ard:led-blue-delay}, remove the delay, as discussed

+          above, and check what happens.

+    \item Light up all three colours simultaneously, by modifying

+          \ardref{ard:led-blue-red}.  Change the

+          combination of colours to get different colours.

+    \item Incorporate some of the features of earlier experiments into

+          \ardref{ard:led-blink} and come up with different ways of blinking

+          with different colour combinations.

+  \end{enumerate}

+\end{exercise}

+

+\subsection{Arduino Code}

+\lstset{style=mystyle}

+\label{sec:led-arduino-code}

+\addtocontents{ard}{\protect\addvspace{\codclr}}

+

+\begin{ardcode}

+  \acaption{Turning on the blue LED}{Turning on the blue LED.  Available

+    at \LocLEDardbrief{led-blue/led-blue.ino}.}

+  \label{ard:led-blue}

+  \lstinputlisting{\LocLEDardcode/led-blue/led-blue.ino}

+\end{ardcode}

+

+\begin{ardcode}

+  \acaption{Turning on the blue LED and turning it off after two

+    seconds}{Turning on the blue LED and turning it off after two

+    seconds.  Available  

+    at \LocLEDardbrief{led-blue-delay/led-blue-delay.ino}.}

+  \label{ard:led-blue-delay}

+  \lstinputlisting{\LocLEDardcode/led-blue-delay/led-blue-delay.ino}

+\end{ardcode}

+

+\begin{ardcode}

+  \acaption{Turning on blue and red LEDs for 5 seconds and then turning

+    them off one by one}{Turning on blue and red LEDs for 5 seconds and

+    then turning them off one by one.  Available at

+    \LocLEDardbrief{led-blue-red/led-blue-red.ino}.}

+  \label{ard:led-blue-red}

+  \lstinputlisting{\LocLEDardcode/led-blue-red/led-blue-red.ino}

+\end{ardcode}

+

+\begin{ardcode}

+  \acaption{Blinking the green LED}{Blinking the green LED.  Available

+    at \LocLEDardbrief{led-green-blink/led-green-blink.ino}.}

+  \label{ard:led-blink}

+  \lstinputlisting{\LocLEDardcode/led-green-blink/led-green-blink.ino}

+\end{ardcode}

+

+

diff --git a/user-code/led/led-julia.tex b/user-code/led/led-julia.tex
new file mode 100644
index 0000000..7a55952
--- /dev/null
+++ b/user-code/led/led-julia.tex
@@ -0,0 +1,90 @@
+\section{Lighting the LED from Julia}
+\subsection{Lighting the LED}
+\label{sec:light-julia}
+In this section, we discuss how to carry out the experiments of the
+previous section from Julia.  We will list the same four experiments,
+in the same order.  The shield has to be attached to the \arduino\ board
+before doing these experiments 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.
+
+\begin{enumerate}
+  \item In the first experiment, we will light up the blue LED on the
+        shield.  The code for this is given in \juliaref{julia:led-blue}.
+        It begins with importing the SerialPorts \cite{julia-serial-ports} package 
+        and the module ArduinoTools, as given in \secref{sec:julia-toolbox}. Following lines 
+        import SerialPorts and ArduinoTools:
+        \lstinputlisting[firstline=1,lastline=2]{\LocLEDjuliacode/led-blue.jl}
+
+        Next, the following line of code is used to detect the port on which \arduino\
+        is connected. 
+        \lstinputlisting[firstline=4,lastline=4]{\LocLEDjuliacode/led-blue.jl}
+      Apart from detecting the port, it also opens a serial port with given BAUD RATE. 
+      In this experiment, we have to put a high voltage (5V) on pin 9 to
+        turn the blue light on.  This is achieved by the following command:
+        \lstinputlisting[firstline=6,lastline=6]{\LocLEDjuliacode/led-blue.jl}
+        Before that, we need to define pin 9 as the
+        output pin.  This is achieved by the following command: 
+        \lstinputlisting[firstline=5,lastline=5]{\LocLEDjuliacode/led-blue.jl}
+        The last line in the code closes the serial port. 
+        In this Julia source file, one can observe that the blue light will be on continuously.   
+\item \juliaref{julia:led-blue-delay} does the same thing as what
+        \ardref{ard:led-blue-delay} does.  It does two more things than what
+        \juliaref{julia:led-blue} does: It makes the blue LED light up for two
+        seconds.  This is achieved by the command
+      \lstinputlisting[firstline=7,lastline=7]{\LocLEDjuliacode/led-blue-delay.jl}
+      The second thing this code does is to turn the blue LED off.  This
+        is achieved by the command
+        \lstinputlisting[firstline=8,lastline=8]{\LocLEDjuliacode/led-blue-delay.jl}
+        It is easy to see that this code puts a 0 on pin 9.
+  \item \juliaref{julia:led-blue-red} does the same thing as what
+        \ardref{ard:led-blue-red} does.  It turns blue and red LEDs on for
+        five seconds.  After that, it turns off blue first.  After 3
+        seconds, it turns off red also.  So, when the program ends, no LED is
+        lit up.
+        
+  \item \juliaref{julia:led-green-blink} does exactly what its counterpart
+        in the Arduino IDE does.  It makes the green LED blink five times.
+\end{enumerate}
+
+
+\subsection{Julia Code}
+\lstset{style=mystyle}
+\label{sec:led-julia-code}
+\addtocontents{juliad}{\protect\addvspace{\codclr}}
+
+\begin{juliacode}
+  \jcaption{Turning on the blue LED}
+  {Turning on the blue LED.  Available at
+    \LocLEDjuliabrief{led-blue.jl}.}
+  \label{julia:led-blue}
+  \lstinputlisting{\LocLEDjuliacode/led-blue.jl}
+\end{juliacode}
+
+\begin{juliacode}
+  \jcaption{Turning on the blue LED and turning it off after two
+    seconds}{Turning on the blue LED and turning it off after two
+    seconds.  Available  
+    at \LocLEDjuliabrief{led-blue-delay.jl}.}
+  \label{julia:led-blue-delay}
+  \lstinputlisting{\LocLEDjuliacode/led-blue-delay.jl}
+\end{juliacode}
+
+\begin{juliacode}
+  \jcaption{Turning on blue and red LEDs for 5 seconds and then turning
+    them off one by one}{Turning on blue and red LEDs for 5 seconds and
+    then turning them off one by one.  Available at
+    \LocLEDjuliabrief{led-blue-red.jl}.}
+  \label{julia:led-blue-red}
+  \lstinputlisting{\LocLEDjuliacode/led-blue-red.jl}
+\end{juliacode}
+
+\begin{juliacode}
+  \jcaption{Blinking the green LED}{Blinking the green LED.  Available
+    at \LocLEDjuliabrief{led-green-blink.jl}.}
+  \label{julia:led-green-blink}
+  \lstinputlisting{\LocLEDjuliacode/led-green-blink.jl}
+\end{juliacode}
+
+
+
diff --git a/user-code/led/led-python.tex b/user-code/led/led-python.tex
new file mode 100644
index 0000000..87323c9
--- /dev/null
+++ b/user-code/led/led-python.tex
@@ -0,0 +1,142 @@
+\section{Lighting the LED from Python}
+\subsection{Lighting the LED}
+\label{sec:light-py}
+In this section, we discuss how to carry out the experiments of the
+previous section from Python.  We will list the same four experiments,
+in the same order.  The shield has to be attached to the \arduino\ board
+before doing these experiments 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.
+\begin{enumerate}
+  \item In the first experiment, we will light up the blue LED on the
+    shield.  The code for this is given in \pyref{py:led-blue}. It begins with importing 
+    necessary modules, as given below: 
+    \lstinputlisting[firstline=1,lastline=2]{\LocLEDpycode/led-blue.py}
+
+    Here, {\tt os} module provides functions for interacting with the operating system. On the 
+    other hand, the {\tt sys} module provides access to some variables used or maintained by the interpreter
+    and functions that interact strongly with the interpreter. Next, the following lines of code are used to get the current directory 
+    followed by splitting it and appending the path to {\tt PYTHONPATH} environment: 
+    \lstinputlisting[firstline=3,lastline=5]{\LocLEDpycode/led-blue.py}
+    
+    After importing the necessary modules, following line imports the Arduino module from the Python-Arduino
+    toolbox, as explained in \secref{sec:python-toolbox}:
+    \lstinputlisting[firstline=7,lastline=7]{\LocLEDpycode/led-blue.py}
+
+    Next, we will import {\tt sleep} module, which is a function available in the package pyserial \cite{pySerial}.
+    For the sake of simplicity, we have configured each experiment as a class. In \pyref{py:led-blue},
+    we have defined the experiment as {\tt class LED\_ON}. The following lines of code 
+    initilize the parameters and functions available in this class. 
+    \lstinputlisting[firstline=10,lastline=15]{\LocLEDpycode/led-blue.py}
+
+    The function {\tt setup} creates an object of the Arduino class
+    through which we can call all the methods available in the base class. 
+    Along with this, it locates the port to which \arduino\ is connected 
+    and opens the port for serial communication. Similar to the Scilab experiments 
+    given in \secref{sec:light-sci}, we require port number and BAUD RATE for opening the serial port. 
+        
+        % self.obj\_arduino = Arduino() :- It creates an object of the arduino class
+        % through which we can call all the methods available in the base class.Here 
+        % obj\_arduino is the object created for Arduino class.Then we will call the locateport().\\
+        % self.port = self.obj\_arduino.locateport() :-This method auto-detects to which port 
+        % arduino is connected and assigns the port no. to the variable to self.port. Once 
+        % serial port is assigned, then we will call the open\_serial() to open the serial 
+        % port for communication.This is done in the next step \\
+        % self.obj\_arduino.open\_serial(1, self.port,self.baudrate) :- This opens the 
+        % serial port and it needs 3 parameters such as :
+        
+        % i. 1st arguement:- This is the board no. (1 by default) for every experiment \\
+        % ii.self.port :- This is the port no. to which arduino is connected \\
+        % iii.baudrate :- It sets the baudrate for serial communication \\
+        
+        % Then we will define the 2nd method run() in which we will define pin no. to which components are connected also apply digital or analog inputs to it depending on the digital or analog nature of the component.
+    The function {\tt run} is used to define the functionality of the experiment. In this experiment, 
+    we have to switch on the blue LED. For this, we define the pin number (which is 9 in this case) 
+    and send the required signal to this pin. Following lines are used to implement this functionality:
+    \lstinputlisting[firstline=22,lastline=24]{\LocLEDpycode/led-blue.py}
+
+    
+    At last, the function {\tt exit} is invoked to close the serial port. 
+  % \item def run(self):- This method is to define the functionality of the experiment \\
+  %       self.blue=9 :- pin no. to which led is connected \\
+  %       self.obj\_arduino.cmd\_digital\_out(1,self.blue,1) :- As led works on digital input so we will use cmd\_digital\_out() which will switch on/off the blue colour of RGB led .
+  %       This method needs 3 parameters such as : \\
+  %       1st parameter:- This is the board no. (1 by default) for every experiment.
+  %       2nd parameter :- pin no. to which led is connected
+  %       3rd parameter :- It applies digital logic i.e. if 1, then switch on led 
+  %       0, then switch off led \\
+  %       Once all the functionalities are defined and the experiments are performed accordingly then we will close the serial port which  is done by the exit function.
+  % \item def exit(self):- This function closes the serial port \\
+        % self.obj\_arduino.close\_serial() :- this function is called from Arduino class which closes the serial port properly.
+      
+      Once all the parameters and functions available in {\tt class LED\_ON} have been 
+      initialized, we create a main method and call it, as given below: 
+      \lstinputlisting[firstline=29,lastline=33]{\LocLEDpycode/led-blue.py}
+
+  % \item def main():- Here we will create the main method \\
+  %       obj\_led=LED\_ON(115200) :- It creates an object of the class with baudrate of 115200.
+  % \item if \_\_name\_\_== '\_\_main\_\_':- At last we will check for the main module
+  %       whether its directly run from the file or being imported from another module \\
+  %       main() :- It calls the main module and which in turn calls the object of the 
+  %       class and performs the experiment.
+
+  \item \pyref{py:led-blue-delay} does the same thing as what \ardref{ard:led-blue-delay} does. 
+        It does two more things than what \pyref{py:led-blue} does: It makes the blue LED light up for two
+        seconds.  This is achieved by the command
+        \lstinputlisting[firstline=25,lastline=25]{\LocLEDpycode/led-blue-delay.py}
+        The second thing this code does is to turn the blue LED off.  This
+        is achieved by the command
+        \lstinputlisting[firstline=26,lastline=26]{\LocLEDpycode/led-blue-delay.py}
+        As evident, this line of code puts a 0 on pin 9.
+  \item \pyref{py:led-blue-red} does the same thing as what \ardref{ard:led-blue-red} does. 
+         It turns blue and red LEDs on for five seconds.  After that, it turns off blue 
+         first.  After 3 seconds, it turns off red also.  So, when the program ends, 
+         no LED is lit up.
+  
+  \item \pyref{py:led-green-blink} does exactly what its counterpart in the Arduino IDE does.  
+        It makes the green LED blink five times.
+\end{enumerate}
+
+\begin{exercise}
+  Repeat the exercise of the previous section.
+\end{exercise}
+
+\subsection{Python Code}
+\lstset{style=mystyle}
+\label{sec:led-python-code}
+\addtocontents{pyd}{\protect\addvspace{\codclr}}
+
+\begin{pycode}
+  \pcaption{Turning on the blue LED}
+  {Turning on the blue LED. Available at
+    \LocLEDpybrief{led-blue.py}.}
+  \label{py:led-blue}
+  \lstinputlisting{\LocLEDpycode/led-blue.py}
+\end{pycode}
+
+\begin{pycode}
+  \pcaption{Turning on the blue LED and turning it off after two
+    seconds}{Turning on the blue LED and turning it off after two
+    seconds.  Available  
+    at \LocLEDpybrief{led-blue-delay.py}.}
+  \label{py:led-blue-delay}
+  \lstinputlisting{\LocLEDpycode/led-blue-delay.py}
+\end{pycode}
+
+\begin{pycode}
+  \pcaption{Turning on blue and red LEDs for 5 seconds and then turning
+    them off one by one}{Turning on blue and red LEDs for 5 seconds and
+    then turning them off one by one.  Available at
+    \LocLEDpybrief{led-blue-red.py}.}
+  \label{py:led-blue-red}
+  \lstinputlisting{\LocLEDpycode/led-blue-red.py}
+\end{pycode}
+
+\begin{pycode}
+  \pcaption{Blinking the green LED}{Blinking the green LED.  Available
+    at \LocLEDpybrief{led-green-blink.py}.}
+  \label{py:led-green-blink}
+  \lstinputlisting{\LocLEDpycode/led-green-blink.py}
+\end{pycode}
+
diff --git a/user-code/led/led-scilab.tex b/user-code/led/led-scilab.tex
new file mode 100644
index 0000000..bfe275d
--- /dev/null
+++ b/user-code/led/led-scilab.tex
@@ -0,0 +1,332 @@
+\section{Lighting the LED from Scilab}
+\subsection{Lighting the LED}
+\label{sec:light-sci}
+In this section, we discuss how to carry out the experiments of the
+previous section from Scilab.  We will list the same four experiments,
+in the same order.  The shield has to be attached to the \arduino\ board
+before doing these experiments 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. 
+\begin{enumerate}
+  \item In the first experiment, we will light up the blue LED on the
+        shield.  The code for this is given in \sciref{sci:led-blue}.  It
+        begins with a command of the form
+        \begin{lstlisting}[style=nonumbers]
+     ok = open_serial(1, PORT NUMBER, BAUD RATE)
+  \end{lstlisting}
+        We have used 2 for {\tt PORT NUMBER} and 115200 for {\tt BAUD RATE}.
+        As a result, this command becomes
+        \lstinputlisting[firstline=1,lastline=1]{\LocLEDscicode/led-blue.sce}
+        This command is used to open the serial port.  When the port is
+        opened successfully, it returns a value of 0, which gets stored in
+        the variable {\tt ok}.
+        
+        Sometimes, the serial port does not open, as mentioned in the above
+        command.  This is typically due to not closing the serial port
+        properly in a previous experiment.  If this condition is not
+        trapped, the program will wait forever, without any information
+        about this difficulty.  One way to address this difficulty is to
+        terminate the program if the serial port does not open.  This is
+        achieved using the error message of the following form:
+        \begin{lstlisting}[style=nonumbers]
+     if ok ~= 0, error(Error Message in Quotes);
+  \end{lstlisting}
+        It checks if {\tt ok = 0}.  If not, it flashes an error message and
+        terminates.  This line gets implemented in the following way in
+        \sciref{sci:led-blue}.  
+        \lstinputlisting[firstline=2,lastline=2]{\LocLEDscicode/led-blue.sce}
+        
+        We turn the LED on in the next line.  This is achieved using a
+        command of the form
+        \begin{lstlisting}[style=nonumbers]
+    cmd_digital_out(1, PIN NUMBER, VALUE)
+  \end{lstlisting}
+        As we want to turn on the blue light in the shield, as discussed in
+        \secref{sec:light-ard}, we choose {\tt PIN NUMBER} as 9.  We can put
+        any positive integer in the place of {\tt VALUE}.  We arrive at the
+        following command:
+        \lstinputlisting[firstline=3,lastline=3]{\LocLEDscicode/led-blue.sce}
+        
+        The last line in the code closes the serial port.  As mentioned
+        above, it is extremely important to close the serial port properly.
+        If not closed properly, there could be difficulties in running
+        subsequent programs.
+        
+  \item \sciref{sci:led-blue-delay} does the same thing as what
+        \ardref{ard:led-blue-delay} does.  It does two more things than what
+        \sciref{sci:led-blue} does: It makes the blue LED light up for two
+        seconds.  This is achieved by the command
+        \lstinputlisting[firstline=4,lastline=4]{\LocLEDscicode/led-blue-delay.sce}
+        The second thing this code does is to turn the blue LED off.  This
+        is achieved by the command
+        \lstinputlisting[firstline=5,lastline=5]{\LocLEDscicode/led-blue-delay.sce}
+        It is easy to see that this code puts a 0 on pin 9.
+        
+  \item \sciref{sci:led-blue-red} does the same thing as what
+        \ardref{ard:led-blue-red} does.  It turns blue and red LEDs on for
+        five seconds.  After that, it turns off blue first.  After 3
+        seconds, it turns off red also.  So, when the program ends, no LED is
+        lit up.
+        
+  \item \sciref{sci:led-green-blink} does exactly what its counterpart
+        in the Arduino IDE does.  It makes the green LED blink five times.
+\end{enumerate}
+
+\begin{exercise}
+  Repeat the exercise of the previous section.
+\end{exercise}
+
+\subsection{Scilab Code}
+\lstset{style=mystyle}
+\label{sec:led-scilab-code}
+\addtocontents{cod}{\protect\addvspace{\codclr}}
+
+\begin{scicode}
+  \ccaption{Turning on the blue LED}
+  {Turning on the blue LED.  Available at
+    \LocLEDscibrief{led-blue.sce}.}
+  \label{sci:led-blue}
+  \lstinputlisting{\LocLEDscicode/led-blue.sce}
+\end{scicode}
+
+\begin{scicode}
+  \ccaption{Turning on the blue LED and turning it off after two
+    seconds}{Turning on the blue LED and turning it off after two
+    seconds.  Available  
+    at \LocLEDscibrief{led-blue-delay.sce}.}
+  \label{sci:led-blue-delay}
+  \lstinputlisting{\LocLEDscicode/led-blue-delay.sce}
+\end{scicode}
+
+\begin{scicode}
+  \ccaption{Turning on blue and red LEDs for 5 seconds and then turning
+    them off one by one}{Turning on blue and red LEDs for 5 seconds and
+    then turning them off one by one.  Available at
+    \LocLEDscibrief{led-blue-red.sce}.}
+  \label{sci:led-blue-red}
+  \lstinputlisting{\LocLEDscicode/led-blue-red.sce}
+\end{scicode}
+
+\begin{scicode}
+  \ccaption{Blinking the green LED}{Blinking the green LED.  Available
+    at \LocLEDscibrief{led-green-blink.sce}.}
+  \label{sci:led-green-blink}
+  \lstinputlisting{\LocLEDscicode/led-green-blink.sce}
+\end{scicode}
+
+
+\section{Lighting the LED from Scilab Xcos}
+\label{sec:light-xcos}
+In this section, we will see how to light the LEDs from Scilab Xcos.
+We will carry out the same four experiments as in the previous
+sections.  For each, 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.
+
+\begin{enumerate}
+  \item First we will see how to turn on the blue LED.  When the file
+        required for this experiment is invoked, one gets the GUI as in 
+        \figref{fig:led-blue}.  In the caption of this figure, one can see
+        where to locate the file.
+        
+        \begin{figure}
+          \centering
+          \includegraphics[width=\smfig]{\LocLEDfig/led-blue-com-2.png}
+          \caption[Turning the blue LED on through Xcos]{Turning the blue
+            LED on through Xcos.  This is what one sees when
+            \LocLEDscibrief{led-blue.zcos} is invoked.}
+          \label{fig:led-blue}
+        \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:led-blue}.  All other parameters are to
+        be left unchanged.
+        \begin{table}
+          \centering
+          \caption{Parameters to light the blue LED in Xcos}
+          \label{tab:led-blue}
+          \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
+            DIGITAL\_WRITE\_SB & Digital pin                & 9         \\
+                               & Arduino card number        & 1         \\ \hline
+          \end{tabular}
+        \end{table}
+        
+  \item In the second experiment, we will show how to turn on the blue LED on
+        for two seconds and then to turn it off.  When the file required for
+        this experiment is invoked, one gets the GUI as in
+        \figref{fig:led-blue-delay}.  In the caption of this figure, one can
+        see where to locate the file.
+        
+        \begin{figure}
+          \centering
+          \includegraphics[width=\smfig]{\LocLEDfig/led-blue-delay-com-2.png}
+          \caption[Turning the blue LED on through Xcos for two
+            seconds]{Turning the blue LED on through Xcos for two
+            seconds.  This is what one sees when
+            \LocLEDscibrief{led-blue-delay.zcos} is invoked.}
+          \label{fig:led-blue-delay}
+        \end{figure}
+        
+        The values for each block required in this program are tabulated in
+        \tabref{tab:led-blue-delay}.  All other parameters are to be left
+        unchanged.
+        \begin{table}
+          \centering
+          \caption{Parameters to light the blue LED in Xcos for two seconds}
+          \label{tab:led-blue-delay}
+          \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
+            DIGITAL\_WRITE\_SB & Digital pin                & 9         \\
+                               & Arduino card number        & 1         \\ \hline
+            STEP\_FUNCTION     & Step time                  & 2         \\
+                               & Initial value              & 1         \\
+                               & Final value                & 0         \\ \hline
+          \end{tabular}
+        \end{table}
+        
+  \item In the third experiment, we will show how to turn the blue LED
+        and the red LED on for five seconds, turn off the blue LED and three
+        seconds later, turn off the red LED also.  When the file required for
+        this experiment is invoked, one gets the GUI as in
+        \figref{fig:led-blue-red}.  In the caption of this figure, one can
+        see where to locate the file.
+        
+        \begin{figure}
+          \centering
+          \includegraphics[width=\smfig]{\LocLEDfig/led-blue-red-com-2.png}
+          \caption[Turning the blue and red LEDs on through Xcos and turning
+            them off one by one]{Turning the blue and red LEDs on through
+            Xcos and turning them off one by one.  This is what one sees
+            when \LocLEDscibrief{led-blue-red.zcos} is invoked.}
+          \label{fig:led-blue-red}
+        \end{figure}
+        
+        The values for each block required in this program are tabulated in
+        \tabref{tab:led-blue-red}.  All other parameters are to be left
+        unchanged.
+        \begin{table}
+          \centering
+          \caption{Parameters to turn the blue and red LEDs on and then turn
+            them off one by one}
+          \label{tab:led-blue-red}
+          \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
+            DIGITAL\_WRITE\_SB 1 & Digital pin                & 9         \\
+                                 & Arduino card number        & 1         \\ \hline
+            STEP\_FUNCTION 1     & Step time                  & 5         \\
+                                 & Initial value              & 1         \\
+                                 & Final value                & 0         \\ \hline
+            DIGITAL\_WRITE\_SB 2 & Digital pin                & 11        \\
+                                 & Arduino card number        & 1         \\ \hline
+            STEP\_FUNCTION 2     & Step time                  & 8         \\
+                                 & Initial value              & 1         \\
+                                 & Final value                & 0         \\ \hline
+          \end{tabular}
+        \end{table}
+        
+  \item We will conclude this section with an experiment to blink the
+        green LED on and off.  When the file required for
+        this experiment is invoked, one gets the GUI as in
+        \figref{fig:led-green-blink}.  In the caption of this figure, one can
+        see where to locate the file.
+        
+        \begin{figure}
+          \centering
+          \includegraphics[width=\smfig]{\LocLEDfig/led-green-blink-com-2.png}
+          \caption[Blinking the green LED every second through
+            Xcos]{Blinking the green LED every second through Xcos.
+            This is what one sees when
+            \LocLEDscibrief{led-green-blink.zcos} is invoked.}
+          \label{fig:led-green-blink}
+        \end{figure}
+        
+        The values for each block required in this program are tabulated in
+        \tabref{tab:led-green-blink}.  All other parameters are to be left
+        unchanged.
+        \begin{table}
+          \centering
+          \caption{Parameters to make the green LED blink every second}
+          \label{tab:led-green-blink}
+          \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
+            DIGITAL\_WRITE\_SB & Digital pin                & 10        \\
+                               & Arduino card number        & 1         \\ \hline
+            PULSE\_SC          & Pulse width(\% of period)  & 50        \\
+                               & Period(secs)               & 2         \\ 
+                               & Phase delay(secs)          & 0.1       \\
+                               & Amplitude                  & 1         \\ \hline
+          \end{tabular}
+        \end{table}
+\end{enumerate}
+
+% \section{Control through Xcos}
+% This experiment implements digital write functionality of Arduino board.
+% % \begin{figure}
+% % \centering
+% % \includegraphics[width=\smfig]{\LocLEDfig/xcos-wri.png}
+% % \caption{Digital write functionality}
+% % \label{fig:xcoswri}
+% % \end{figure}
+
+% \begin{figure}
+% \centering
+% \includegraphics[width=\smfig]{\LocLEDfig/xcos-led.png}
+% \caption{Xcos diagram for LED interfacing}
+% \label{fig:xcosblk}
+% \end{figure}
+
+% \begin{figure}
+% \centering
+% \includegraphics[width=\smfig]{\LocLEDfig/xcos-desc.png}
+% \caption{Xcos blocks}
+% \label{fig:xcosdesc}
+% \end{figure}
+
+% \section{Experiment: Blink LED for limited number of iterations}
+% This experiment is about continuous switching on and switching off the LED a fixed number of times. Here we use  for loop to carry out limited number of iterations of the code.  The structure of for loop is:
+
+% \begin{lstlisting}      
+% for variable = start_point:end_point
+%    instructions
+% end
+% \end{lstlisting}   
+
+% Here variable is incremented by 1 in every iteration, till the condition variable=end\_point is met. Thus before each iteration, the above condition is verified. Figure shows the flow-chart of the operation.
+% \begin{figure}
+% \centering
+% \includegraphics[width=\smfig]{\LocLEDfig/LEDflowchart.png}
+% \caption{Flow chart}
+% \label{fig:ledfc}
+% \end{figure}
+
+
+
+\begin{exercise}
+  Carry out the following exercise:
+  \begin{enumerate}
+    \item Change the blink pattern for an array of LEDs.
+    \item Change the delays.
+  \end{enumerate}
+\end{exercise}
+
diff --git a/user-code/pot/pot-OM.tex b/user-code/pot/pot-OM.tex
new file mode 100644
index 0000000..66c903d
--- /dev/null
+++ b/user-code/pot/pot-OM.tex
@@ -0,0 +1,41 @@
+\section{Reading the potentiometer from OpenModelica}
+\subsection{Reading the potentiometer}
+In this section, we will use a OpenModelica model to read the potentiometer values.  
+The shield has to be attached to the \arduino\ board
+before doing these experiments 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.
+
+Based on the acquired potentiometer values, we will change the state of the 
+RGB LED as explained earlier. The code for this experiment is given in
+\OpenModelicaref{OpenModelica:pot-100}. 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. Then, we read the analog input at pin 2 using,
+\lstinputlisting[firstline=16,lastline=16]
+{\LocPotOpenModelicacode/pot-threshold.mo} where the first argument is for
+%\redcolor {the kit number } 
+the serial port and the second argument corresponds to the analog pin to be read.  Next, we compare the read values with the set range, and then turn on and off the corresponding LED. For example, 
+\lstinputlisting[firstline=18,lastline=21]
+{\LocPotOpenModelicacode/pot-threshold.mo} 
+where {\tt cmd\_digital\_out} is used to set the pin 11 high (1) or low (0). 
+We used {\tt delay(1000)} to retain the LED in the on state for 1000 milliseconds.  
+A similar check is done the other two bands. 
+While running this experiment, 
+the readers must rotate the knob of the potentiometer and observe 
+the change in the color of the RGB LED.
+\subsection{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. 
+
+\label{sec:pot-OpenModelica-code}
+\addtocontents{OpenModelicad}{\protect\addvspace{\codclr}}
+\begin{OpenModelicacode}
+  \mcaption{Turning on LEDs depending on the potentiometer
+    threshold}{Turning on LEDs depending on the potentiometer
+    threshold.  Available at Arduino -> SerialCommunication -> 
+  Examples -> pot -> pot\_threshold.}
+\label{OpenModelica:pot-100}
+\lstinputlisting{\LocPotOpenModelicacode/pot-threshold.mo}
+\end{OpenModelicacode}
diff --git a/user-code/pot/pot-base.tex b/user-code/pot/pot-base.tex
new file mode 100644
index 0000000..62c5f23
--- /dev/null
+++ b/user-code/pot/pot-base.tex
@@ -0,0 +1,178 @@
+\chapter{Interfacing a Potentiometer}

+\thispagestyle{empty}

+\label{potmeter}

+

+\newcommand{\LocPotfig}{\Origin/user-code/pot/figures}

+\newcommand{\LocPotscicode}{\Origin/user-code/pot/scilab}

+\newcommand{\LocPotscibrief}[1]{{\tt

+    \seqsplit{Origin/user-code/pot/scilab/#1}}, 

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

+\newcommand{\LocPotardcode}{\Origin/user-code/pot/arduino}

+\newcommand{\LocPotardbrief}[1]{{\tt

+    \seqsplit{Origin/user-code/pot/arduino/#1}},

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

+

+%%%%%%%%%%%%%%%python starts

+\newcommand{\LocPotpycode}{\Origin/user-code/pot/python}

+\newcommand{\LocPotpybrief}[1]{{\tt

+    \seqsplit{Origin/user-code/pot/python/#1}},

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

+%%%%%%%%%%%%%%%python ends

+

+%%%%%%%%%%%%%%%julia starts

+\newcommand{\LocPotjuliacode}{\Origin/user-code/pot/julia}

+\newcommand{\LocPotjuliabrief}[1]{{\tt

+    \seqsplit{Origin/user-code/pot/julia/#1}},

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

+%%%%%%%%%%%%%%%julia ends

+

+%%%%%%OpenModelica starts

+\newcommand{\LocPotOpenModelicacode}{\Origin/user-code/pot/OpenModelica}

+\newcommand{\LocPotOpenModelicabrief}[1]{{\tt

+    \seqsplit{Origin/user-code/pot/OpenModelica/#1}},

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

+%%%%%%OpenModelica ends

+

+A potentiometer is a three-terminal variable resistor with two

+terminals connected to the two ends of a resistor and one connected to

+a sliding or rotating contact, termed as a wiper. The wiper can be

+moved to vary the resistance, and hence the potential, between the

+wiper and each terminal of the resistor. Thus, a potentiometer

+functions as a variable potential divider. It finds wide application

+in volume control, calibration and tuning circuits, motion control,

+joysticks, etc.

+

+In this chapter, we will perform an experiment to read the analog

+values from a potentiometer mounted on the shield of \arduino\

+board. The analog values read from the potentiometer will then be

+used to control the actuation of other components.

+

+\section{Preliminaries}

+The shield provided with the kit has a 1K potentiometer mounted on

+it. The mechanical contact at the middle terminal is rotated to vary

+the resistance across the middle terminal and the two ends of the

+potentiometer. With the fixed voltage across the two terminals of the

+potentiometer, the position of the wiper determines the potential

+across the middle terminal and either of the two end

+terminals. Nowadays, digital potentiometer integrated circuits, which

+vary resistance across two pins on the basis of the set value, are

+also available.

+

+\begin{figure}

+\centering

+\subfloat[Pictorial representation of a potentiometer]{

+\includegraphics[width=\smfig]{\LocPotfig/potmeter.png}

+\label{fig:pot}} \hfill

+\subfloat[Internal connection diagram for the potentiometer on the shield]{

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

+\label{fig:potsch}}

+\caption{Potentiometer's schematic on the shield}

+\label{fig:potmeterconn}

+\end{figure}

+

+The potentiometer used in the kit can be seen on the shield in

+\figrefp{fig:uno-shield-connect}.  It is

+mounted on the shield. The two end terminals of the potentiometer are

+connected to 5V supply and ground. The middle terminal is connected to

+analog pin 2 of the \arduino\ board. The resistance between the middle

+terminal and either of the two ends can be varied by rotating the

+middle terminal by hand. The connection diagram for the potentiometer

+is shown in \figref{fig:potmeterconn}.

+

+The reading of a potentiometer is an analog voltage varying from 0 to

+5V. Like LDR, we use the ADC functionality of the

+\arduino\ board. Thus, we obtain digital values between 0 and 1023. 

+% Scilab Console or Arduino Serial Monitor.

+% redcolor{Arduino Serial Monitor}

+In the experiment explained in this chapter, we shall also use an RGB

+LED mounted on the shield. An RGB LED is a tri-color LED which can

+illuminate in Red, Green, and Blue colors. It has 4 leads of which one

+lead is connected to ground and other three leads are connected to

+digital I/O pins 9, 10, and 11 of Arduino. In order to switch on a

+particular LED, we need to provide HIGH (5V) voltage to the

+corresponding pin of the \arduino\ board.

+

+\section{Connecting a potentiometer with \arduino\ using a breadboard}

+This section is useful for those who either don't have a shield or don't want to use the shield

+for performing the experiments given in this chapter. 

+

+A breadboard is a device for holding the components of a circuit and connecting 

+them together. We can build an electronic circuit on a breadboard without doing any 

+soldering. To know more about the breadboard and other electronic components, 

+one should watch the Spoken Tutorials on Arduino as published on

+{\tt https://spoken-tutorial.org/}. Ideally, one should go through all the

+tutorials labeled as Basic. However, we strongly recommend the readers should

+watch the fifth and sixth tutorials, i.e., {\tt First Arduino Program} and 

+{\tt Arduino with Tricolor LED and Push button}.

+

+In case you have a potentiometer, and you want to connect it with \arduino\ on a breadboard, 

+please refer to \figref{fig:pot-led}. The connections given in this figure 

+can be used to control an RGB LED depending upon the values from the potentiometer.  

+\begin{figure}

+  \centering

+  \includegraphics[width=\textwidth]{\LocPotfig/POT-led-bb.png}

+  \caption{A potentiometer to control an LED with Arduino Uno using a breadboard}

+  %\redcolor{connected on pin no. D12}}

+  \label{fig:pot-led}

+\end{figure}

+As shown in \figref{fig:pot-led}, the three legs of the potentiometer are connected to 

+5V, analog pin 2, and GND on \arduino. Depending upon how much the potentiometer's shaft is rotated, one can get a value on analog pin 2. On the other hand, 

+there is an RGB LED, and its four legs are connected to three different digital pins and GND on \arduino\, as discussed in 

+\chapref{led}. 

+

+

+\section{Reading the potentiometer from the Arduino IDE}

+\subsection{Reading the potentiometer}

+In this section, we shall learn how to read the potentiometer 

+input through Arduino IDE. Depending on the acquired potentiometer 

+values, we will change the state of the RGB LED. The shield has to be attached to the \arduino\ board

+before doing this experiment 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.

+

+The Arduino code for this experiment is given in \ardref{ard:pot-100}. 

+In this code, lines 1 through 4 are used to assign relevant PINs to 

+the potentiometer and RGB LED. The purpose of these lines is to avoid 

+confusion, with the PINs, for beginners. Next, we start serial port 

+communication, as on line 9, with the baud rate of 115200. 

+To take the potentiometer input, we need to initialize the pins by 

+giving the following commands:

+

+\lstinputlisting[firstline=9,lastline=12]

+{\LocPotardcode/pot-threshold/pot-threshold.ino}

+

+where {\tt pinMode} command is used to configure the specified pin as

+an input or an output pin. The first argument for the above command

+corresponds to the pin number and second argument corresponds to the

+mode of operation. In this experiment, we configure digital pin 2 as

+an input pin while digital pins 9, 10, and 11 as output pins. Next, we

+check the value of potentiometer using {\tt analogRead} command for 10

+iterations. These values range from 0 to 1023. Depending on the read

+value, we turn on and turn off the Red, Green or Blue LED. For

+example, when the position of the potentiometer corresponds to the

+values between 0 and 319, inclusive, we turn on the Red LED, keep it

+on for 1000 ms and then turn it off. This functionality is carried out

+by,

+\lstinputlisting[firstline=16,lastline=19]

+                {\LocPotardcode/pot-threshold/pot-threshold.ino}

+In a similar manner,

+we check the potentiometer values and correspondingly turn on and off

+the Green and Blue LEDs. Note that, we have used {\tt if and else if}

+statements to check the conditions. While running this experiment, 

+the readers must rotate the knob of the potentiometer and observe 

+the change in the color of the RGB LED.  

+

+\subsection{Arduino Code}

+\lstset{style=mystyle}

+\label{sec:pot-arduino-code}

+\addtocontents{ard}{\protect\addvspace{\codclr}}

+

+\begin{ardcode}

+  \acaption{Turning on LEDs depending on the potentiometer

+    threshold}{Turning on LEDs depending on the potentiometer

+    threshold.  Available at

+    \LocPotardbrief{pot-threshold/pot-threshold.ino}.}

+\label{ard:pot-100}

+\lstinputlisting{\LocPotardcode/pot-threshold/pot-threshold.ino}

+\end{ardcode}

+

diff --git a/user-code/pot/pot-julia.tex b/user-code/pot/pot-julia.tex
new file mode 100644
index 0000000..8554e93
--- /dev/null
+++ b/user-code/pot/pot-julia.tex
@@ -0,0 +1,42 @@
+\section{Reading the potentiometer from Julia}
+\subsection{Reading the potentiometer}
+In this section, we will use a Julia source file to read 
+the potentiometer values. The shield has to be attached to the \arduino\ board
+before doing these experiments 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.
+
+
+Based on the acquired potentiometer values, we will change the 
+state of the RGB LED as explained earlier. 
+The code for this experiment is given in
+\juliaref{julia:pot-100}. As explained earlier in \secref{sec:light-julia}, we begin with importing the SerialPorts 
+\cite{julia-serial-ports} package and the module ArduinoTools followed by setting up the serial port.
+Then, we read the analog input at pin 2 using,
+\lstinputlisting[firstline=9,lastline=9]
+{\LocPotjuliacode/pot-threshold.jl} where the first argument is for
+%\redcolor {the kit number } 
+the serial port and the second argument corresponds to the analog pin 
+to be read.  Next, we compare the read values with the set range, 
+and then turn on and off the corresponding LED. For example, 
+\lstinputlisting[firstline=11,lastline=14]
+{\LocPotjuliacode/pot-threshold.jl} where {\tt digiWrite} 
+is used to set the pin 11 high (1) or low (0). 
+We used {\tt sleep(1)} to retain the LED in the on state for 1 second.  
+A similar check is done the other two bands. 
+While running this experiment, 
+the readers must rotate the knob of the potentiometer and observe 
+the change in the color of the RGB LED.
+\subsection{Julia Code}
+\label{sec:pot-julia-code}
+\addtocontents{juliad}{\protect\addvspace{\codclr}}
+\begin{juliacode}
+  \jcaption{Turning on LEDs depending on the potentiometer
+    threshold}{Turning on LEDs depending on the potentiometer
+    threshold.  Available at
+  \LocPotjuliabrief{pot-threshold.jl}.}
+\label{julia:pot-100}
+\lstinputlisting{\LocPotjuliacode/pot-threshold.jl}
+\end{juliacode}
+
diff --git a/user-code/pot/pot-python.tex b/user-code/pot/pot-python.tex
new file mode 100644
index 0000000..a916038
--- /dev/null
+++ b/user-code/pot/pot-python.tex
@@ -0,0 +1,46 @@
+\section{Reading the potentiometer from Python}
+\subsection{Reading the potentiometer}
+In this section, we will use a Python script to read the potentiometer
+values. The shield has to be attached to the \arduino\ board
+before doing these experiments 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.
+
+Based on the acquired potentiometer values, we will change
+the state of the RGB LED. As explained earlier, the potentiometer
+values range from 0 to 1023. We will divide this entire range into 3
+bands, 0-319, 320-900, and 901-1023. For each read value, we use an
+{\tt if elif} statement and correspondingly turn on either the Red,
+Green or Blue LED. The code for this experiment is given in
+\pyref{py:pot-100}. As explained earlier in \secref{sec:light-py}, we begin with 
+importing necessary modules followed by setting up the serial port. 
+Then, we read the analog input at pin 2 using,
+\lstinputlisting[firstline=28,lastline=28]
+                {\LocPotpycode/pot-threshold.py} where the first
+                argument is for
+%\redcolor {the kit number } 
+the kit number and the second argument corresponds to the analog pin to be read.  
+Next, we compare the read values with the set range, and then turn on and off the corresponding LED. For example, 
+\lstinputlisting[firstline=31,lastline=34]
+{\LocPotpycode/pot-threshold.py} where {\tt cmd\_digital\_out} 
+is used to set the pin 11 high (1) or low (0). 
+We used {\tt sleep(1)} to retain the LED in the on state for one second.  
+A similar check is done the other two bands. 
+While running this experiment, 
+the readers must rotate the knob of the potentiometer and observe 
+the change in the color of the RGB LED. 
+
+
+\subsection{Python Code}
+\label{sec:pot-python-code}
+\addtocontents{pyd}{\protect\addvspace{\codclr}}
+\begin{pycode}
+  \pcaption{Turning on LEDs depending on the potentiometer
+    threshold}{Turning on LEDs depending on the potentiometer
+    threshold.  Available at
+  \LocPotpybrief{pot-threshold.py}.}
+\label{py:pot-100}
+\lstinputlisting{\LocPotpycode/pot-threshold.py}
+\end{pycode}
+
diff --git a/user-code/pot/pot-scilab.tex b/user-code/pot/pot-scilab.tex
new file mode 100644
index 0000000..0ffc922
--- /dev/null
+++ b/user-code/pot/pot-scilab.tex
@@ -0,0 +1,118 @@
+\section{Reading the potentiometer from Scilab}
+\subsection{Reading the potentiometer}
+In this section, we will use a Scilab script to read the potentiometer
+values.  Based on the acquired potentiometer values, we will change
+the state of the RGB LED. The shield has to be attached to the \arduino\ board
+before doing these experiments 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. 
+
+As explained earlier, the potentiometer values range from 0 to 1023. We will divide this entire range into 3
+bands, 0-319, 320-900, and 901-1023. For each read value, we use an
+{\tt if elseif} statement and correspondingly turn on either the Red,
+Green or Blue LED. The code for this experiment is given in
+\sciref{sci:pot-100}. We start the experiment by opening the serial
+port for communication between \scilab\ and the \arduino\ board. Then,
+we read the analog input at pin 2 using,
+\lstinputlisting[firstline=4,lastline=4]
+                {\LocPotscicode/pot-threshold.sce} where the first
+                argument is for
+%\redcolor {the kit number } 
+the kit number and the second argument corresponds to the analog pin to be read.  Next, we compare the read values with the set threshold, 
+and then turn on and off the corresponding LED. For example, 
+\lstinputlisting[firstline=6,lastline=9]
+{\LocPotscicode/pot-threshold.sce} where {\tt cmd\_digital\_out} 
+is used to set the pin 11 high (1) or low (0). 
+We used {\tt sleep(1000)} to retain the LED in the on state for 
+1000 milliseconds.  
+A similar check is done for the other two bands. 
+While running this experiment, 
+the readers must rotate the knob of the potentiometer and observe 
+the change in the color of the RGB LED. 
+
+\subsection{Scilab Code}
+\label{sec:pot-scilab-code}
+\addtocontents{cod}{\protect\addvspace{\codclr}}
+\begin{scicode}
+  \ccaption{Turning on LEDs depending on the potentiometer
+    threshold}{Turning on LEDs depending on the potentiometer
+    threshold.  Available at
+  \LocPotscibrief{pot-threshold.sce}.}
+\label{sci:pot-100}
+\lstinputlisting{\LocPotscicode/pot-threshold.sce}
+\end{scicode}
+
+\section{Reading the potentiometer from Xcos}
+In this section, we discuss how to read the potentiometer values using
+Xcos blocks. When the file required for this experiment is invoked, one
+gets the GUI as in \figref{fig:pot-threshold}.  In the caption of this
+figure, one can see where to locate the file.  The reader should go
+through the instructions given in \secref{sec:xcos-start} before
+getting started.
+
+In this experiment, the block {\tt Analog Read Pin 2} performs the read 
+operation from pin 2. The threshold is set using the block, {\tt Dynamic}. 
+Depending on the condition met, a $1$ or $0$ is given to pin 9, 10 or 11.
+
+\begin{figure}
+  \centering
+  \includegraphics[width=\hgfig]{\LocPotfig/pot-threshold-1.PNG}
+  \caption[Turning LEDs on through Xcos depending on the potentiometer
+  threshold]{Turning LEDs on through Xcos depending on the
+    potentiometer threshold.  This is what one sees when
+      \LocPotscibrief{pot-threshold.zcos}, is invoked.}
+  \label{fig:pot-threshold}
+\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:pot-threshold}.  All other parameters are to
+be left unchanged.
+  \begin{table}
+    \centering
+    \caption{Xcos parameters to turn on different LEDs depending on the
+      potentiometer value}
+    \label{tab:pot-threshold}
+    \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
+      CONST\_m & Constant Value & 1, 0 \\ \hline
+      DIGITAL\_WRITE\_SB & Digital Pin & 9(blue) \\
+      & Digital Pin & 10(green) \\
+      & Digital Pin & 11(red) \\ 
+      & Arduino card number & 1 \\ \hline
+      ANALOG\_READ\_SB & analog pin & 2 \\
+      & Arduino card number & 1 \\ \hline
+      SWITCH2\_m & Datatype & 1 \\
+      & Pass first input & 1 \\
+      & threshold & 0 \\
+      & use zero crossing & 1 \\ \hline
+      SWITCH2\_m & Datatype & 1 \\
+      & Pass first input & 0 \\
+      & threshold & 320 \\
+      & use zero crossing & 1 \\ \hline
+      SWITCH2\_m & Datatype & 1 \\
+      & Pass first input & 0 \\
+      & threshold & 900 \\
+      & use zero crossing & 1 \\ \hline
+      RELATIONALOP & Operator & 4 \\
+      & zero crossing & 0 \\
+      & Datatype & 1 \\ \hline
+    \end{tabular}
+  \end{table}
+
+Note that, when the potentiometer value read by Scilab crosses either
+of the thresholds, color of the LED changes. This can be observed by
+rotating the knob of the potentiometer.
+
+\begin{exercise}
+List out the applications in day to day life where potentiometer is
+being used/can be used? For example, old fan regulators used
+potentiometer to change the fan speed.
+\end{exercise}
+
diff --git a/user-code/push/push-OM.tex b/user-code/push/push-OM.tex
new file mode 100644
index 0000000..b64afae
--- /dev/null
+++ b/user-code/push/push-OM.tex
@@ -0,0 +1,76 @@
+\section{Reading the pushbutton status from OpenModelica}
+\subsection{Reading the pushbutton status}
+In this section, we discuss how to carry out the experiments of the
+previous section from OpenModelica.  We will list the same two experiments,
+in the same order.  The shield has to be attached to the \arduino\ board
+before doing these experiments 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.
+
+\begin{enumerate}
+\item In the first experiment, we will read the pushbutton status. The code for this experiment is given in
+  \OpenModelicaref{OpenModelica:push-100}. 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. Then, we read the input coming
+ from digital pin 12 using the following command: 
+ \lstinputlisting[firstline=15,lastline=15]
+  {\LocPushOpenModelicacode/push-button-status.mo}
+  Note that the one leg of the pushbutton on the shield is connected to digital
+pin 12 of Arduino Uno as given in \figref{fig:pushbuttonconn}. The read value is displayed (or
+printed) by the following lines:
+\lstinputlisting[firstline=16,lastline=22]
+  {\LocPushOpenModelicacode/push-button-status.mo} where {\tt val} contains the pushbutton value acquired by the previous command.
+  When the pushbutton is not pressed, {\tt val} will be ``0''. On the other hand,
+  when the pushbutton is pressed, {\tt val} will be ``1''. While executing this model in OpenModelica, 
+the readers must press and release the pushbutton and observe the values being printed
+on the output window of OMEdit, as shown in \figref{om-sim-success}.
+\item This experiment is an extension of the previous
+  experiment. Here, we control the state of an LED as per the status
+  of the pushbutton. In other words, digital output to an LED is
+  decided by the digital input received from the pushbutton. The code
+  for this experiment is given in \OpenModelicaref{OpenModelica:push-200}. 
+  After reading the pushbutton status, we turn the LED on if the pushbutton is
+  pressed, otherwise we turn it off. The following lines, 
+  \lstinputlisting[firstline=18,lastline=26]
+  {\LocPushOpenModelicacode/led-push-button.mo} perform the condition check
+  and corresponding LED state control operation. While running this experiment, the readers must press and release the push-
+  button. Accordingly, they can observe whether the LED glows when the push-
+  button is pressed.
+\end{enumerate}
+%%%%%%%%%%%%OpenModelica decription ends
+
+% \section{Do we need all these? \redcolor{Manas, please answer}}
+% \subsection{Troubleshooting}
+% You can check whether pushbutton is working correctly or not by
+% checking the connections. If pushbutton is working correctly, all the
+% 4 terminals show electrical short. You can check this with digital
+% multimeter (DMM). When pushbutton is released two pairs of terminals are
+% not connected to the other 2 terminals on the other side. However,
+% each pair is still shorted. 
+
+
+\subsection{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. 
+\label{sec:led-OpenModelica-code}
+\addtocontents{OpenModelicad}{\protect\addvspace{\codclr}}
+
+\begin{OpenModelicacode}
+\mcaption{Read the status of the pushbutton and display it on the 
+output window}{Read the status of the pushbutton and display it on the output window.  
+  Available at Arduino -> SerialCommunication -> 
+  Examples -> push -> push\_button\_status. }
+\label{OpenModelica:push-100}
+\lstinputlisting{\LocPushOpenModelicacode/push-button-status.mo}
+\end{OpenModelicacode}
+
+\begin{OpenModelicacode}
+\mcaption{Turning the LED on or off depending on the pushbutton}
+  {Turning the LED on or off depending on the pushbutton.  Available at Arduino -> SerialCommunication -> 
+  Examples -> push -> led\_push\_button.}
+\label{OpenModelica:push-200}
+\lstinputlisting{\LocPushOpenModelicacode/led-push-button.mo}
+\end{OpenModelicacode}
+%%%%%%%%%%%%%%%%%OpenModelica ends
diff --git a/user-code/push/push-base.tex b/user-code/push/push-base.tex
new file mode 100644
index 0000000..2220b43
--- /dev/null
+++ b/user-code/push/push-base.tex
@@ -0,0 +1,187 @@
+\chapter{Interfacing a Pushbutton}

+\thispagestyle{empty}

+\label{pushbutton}

+

+\newcommand{\LocPushfig}{\Origin/user-code/push/figures}

+\newcommand{\LocPushscicode}{\Origin/user-code/push/scilab}

+\newcommand{\LocPushscibrief}[1]{{\tt

+    \seqsplit{Origin/user-code/push/scilab/#1}}, 

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

+\newcommand{\LocPushardcode}{\Origin/user-code/push/arduino}

+\newcommand{\LocPushardbrief}[1]{{\tt

+    \seqsplit{Origin/user-code/push/arduino/#1}}, 

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

+

+

+%%%%%%%%%%%%%%python starts

+\newcommand{\LocPushpycode}{\Origin/user-code/push/python}

+\newcommand{\LocPushpybrief}[1]{{\tt

+    \seqsplit{Origin/user-code/push/python/#1}}, 

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

+%%%%%%%%%%%%%python ends

+

+%%%%%%%%%%%%%%julia starts

+\newcommand{\LocPushjuliacode}{\Origin/user-code/push/julia}

+\newcommand{\LocPushjuliabrief}[1]{{\tt

+    \seqsplit{Origin/user-code/push/julia/#1}}, 

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

+%%%%%%%%%%%%%julia ends

+

+

+%%%%%OpenModelica starts

+\newcommand{\LocPushOpenModelicacode}{\Origin/user-code/push/OpenModelica}  %added for OpenModelica

+\newcommand{\LocPushOpenModelicabrief}[1]{{\tt \seqsplit{%

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

+%%%%%%OpenModelica Ends

+

+A pushbutton is a simple switch which is used to connect or disconnect

+a circuit. It is commonly available as a \emph{normally open} or

+\emph{push to make} switch which implies that the contact is made upon

+the push or depression of the switch. These switches are widely used

+in calculators, computer keyboards, home appliances, push-button

+telephones and basic mobile phones, etc. In this chapter, we shall

+perform an experiment to read the status of the pushbutton mounted

+on the shield of the \arduino\ board. Advancing further, we shall

+perform a task depending on the status of the pushbutton. Digital

+logic based status monitoring is a very basic and important task in

+many industrial applications. This chapter will enable us to have a

+smooth hands-on for such functionalities. 

+

+\section{Preliminaries}

+A pushbutton mounted on the shield is connected to the digital pin 12

+of the \arduino\ board. The connection diagram for the pushbutton is

+shown in \figref{fig:pushbuttonconn}. It has 2 pairs of

+terminals. Each pair is electrically connected. When the pushbutton is

+pressed all the terminals short to complete the circuit, thereby

+allowing the flow of current through the switch. As you might expect,

+there is a limit to the maximum current that could flow through a

+pushbutton. This maximum current is also called the rated current and

+is usually provided by the manufacturer in the datasheet.  

+

+\begin{figure}

+\centering

+\includegraphics[width=\smfig]{\LocPushfig/pushbutton-conn.png}

+\caption{Internal connection diagram for the pushbutton on the shield}

+%\redcolor{connected on pin no. D12}}

+\label{fig:pushbuttonconn}

+\end{figure}

+

+

+\begin{figure}

+  \centering

+  \includegraphics[width=\textwidth]{\LocPushfig/switch.png}

+  \caption{A pushbutton to read its status with Arduino Uno using a breadboard}

+  %\redcolor{connected on pin no. D12}}

+  \label{fig:switch-bread}

+\end{figure}

+

+\section{Connecting a pushbutton with \arduino\ using a breadboard}

+This section is useful for those who either don't have a shield or don't want to use the shield

+for performing the experiments given in this chapter. 

+

+A breadboard is a device for holding the components of a circuit and connecting 

+them together. We can build an electronic circuit on a breadboard without doing any 

+soldering. To know more about the breadboard and other electronic components, 

+one should watch the Spoken Tutorials on Arduino as published on

+{\tt https://spoken-tutorial.org/}. Ideally, one should go through all the

+tutorials labeled as Basic. However, we strongly recommend the readers should

+watch the fifth and sixth tutorials, i.e., {\tt First Arduino Program} and 

+{\tt Arduino with Tricolor LED and Push button}.

+

+In case you have a pushbutton, and you want to connect it with \arduino\ on a breadboard, 

+please refer to \figref{fig:switch-bread}. The connections given in this figure can be used to 

+read the status of a pushbutton. As shown in \figref{fig:switch-bread}, 

+there are three different wires - red, black, and blue. The red wire is used to connect 5V on 

+\arduino\ and one leg of the pushbutton. The black wire connects to one long vertical row on 

+the side of the breadboard to provide access to the ground (GND) on \arduino. 

+The blue wire goes from digital pin 12 to one leg of the pushbutton on another side. 

+That same leg of the pushbutton connects through a pull-down resistor to GND on \arduino. 

+When the pushbutton is open (unpressed), there is no connection between the two legs of the pushbutton, 

+so the pin is connected to the ground (through the pull-down resistor), and we read a LOW on

+digital pin 12. When the pushbutton is closed (pressed), it makes a connection between its two legs, 

+connecting the pin to 5V so that we read a HIGH on digital pin 12. 

+

+\begin{figure}

+  \centering

+  \includegraphics[width=\textwidth]{\LocPushfig/switch-led.png}

+  \caption{A pushbutton to control an LED with Arduino Uno using a breadboard}

+  %\redcolor{connected on pin no. D12}}

+  \label{fig:switch-led}

+\end{figure}

+The connections shown in \figref{fig:switch-led} can be used to control an RGB LED, 

+depending on the status of the pushbutton. As shown in \figref{fig:switch-led}, digital

+pin 9 on \arduino\ is connected to the rightmost leg of the RGB LED. Rest of the connections

+are same as that in \figref{fig:switch-bread}. 

+

+\section{Reading the pushbutton status from the Arduino IDE}

+\subsection{Reading the pushbutton status}

+In this section, we shall describe an experiment that will help 

+to read the status of a pushbutton through Arduino IDE. 

+Later, we shall change the state of an LED depending on the status of the pushbutton. The shield has to be attached to the \arduino\ board

+before doing these experiments 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.

+\begin{enumerate}

+\item In the first experiment, we shall simply read the status of the

+  pushbutton. Recall that it is a normally open type of switch. So, in

+  an unpressed state, the logic read will be ``0'', corresponding to

+  0V. And, when the user presses the pushbutton, the reading would be

+  ``1'', corresponding to 5V. The code for this experiment is given in

+  \ardref{ard:push-100}. In the initialization part of the code, we

+  assign the sensor pin to be read, 12 in this case, to a variable for

+  ease. Next, we initialize the port for serial port communication at

+  data rate of 115200 bits per second and declare the digital pin 12 as an 

+  input pin using the command {\tt pinMode}.  After initialization, 

+  we start reading the status of the pushbutton using the following command:

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

+  {\LocPushardcode/push-button-status/push-button-status.ino}

+

+  Note that the input argument to this command is the digital pin 12

+  corresponding to the pin to which the pushbutton is connected.  After

+  acquiring the values, we print them using,

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

+  {\LocPushardcode/push-button-status/push-button-status.ino} We

+  repeat this read and print process 50 times by putting the

+  commands in a {\tt for} loop. While running this experiment, the readers must press

+  and release the pushbutton and observe the values being printed on the

+  {\tt Serial Monitor} of Arduino IDE.

+

+\item In the second experiment, we shall control the power given to an

+  LED as per the status of the pushbutton. The code for this

+  experiment is given in \ardref{ard:push-200}. This experiment can be

+  taken as a step further to the previous one. We declare the LED pin

+  to be controlled as an output pin by,

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

+  {\LocPushardcode/led-push-button/led-push-button.ino} Next, we read

+  the pusbhutton value from digital pin 12. If the value is ``1'',

+  we turn on the LED at pin 9 else we turn it off. The

+  condition check is performed using {\tt if else} statements. We run

+  these commands for 50 iterations. While running this experiment, the readers 

+  must press and release the pushbutton. Accordingly, they can observe whether 

+  the LED glows when the pushbutton is pressed. 

+  %  \redcolor{Serial monitor}.

+\end{enumerate}

+

+\subsection{Arduino Code}

+\lstset{style=mystyle}

+\label{sec:push-arduino-code}

+\addtocontents{ard}{\protect\addvspace{\codclr}}

+

+\begin{ardcode}

+  \acaption{Read the status of the pushbutton and display it on the

+  Serial Monitor}{Read the status of the pushbutton and display it on

+    the Serial Monitor.  Available at

+    \LocPushardbrief{push-button-status/push-button-status.ino}.}

+\label{ard:push-100}

+\lstinputlisting{\LocPushardcode/push-button-status/push-button-status.ino}

+\end{ardcode}

+

+\begin{ardcode}

+  \acaption{Turning the LED on or off depending on the pushbutton}

+  {Turning the LED on or off depending on the pushbutton.  Available

+    at \LocPushardbrief{led-push-button/led-push-button.ino}.}

+\label{ard:push-200}

+\lstinputlisting{\LocPushardcode/led-push-button/led-push-button.ino}

+\end{ardcode}

+

+

diff --git a/user-code/push/push-julia.tex b/user-code/push/push-julia.tex
new file mode 100644
index 0000000..436108e
--- /dev/null
+++ b/user-code/push/push-julia.tex
@@ -0,0 +1,64 @@
+\section{Reading the pushbutton status from Julia}
+\subsection{Reading the pushbutton status} 
+In this section, we discuss how to carry out the experiments of the
+previous section from Julia.  We will list the same two experiments,
+in the same order.  The shield has to be attached to the \arduino\ board
+before doing these experiments 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.
+
+\begin{enumerate}
+\item In the first experiment, we will read the pushbutton status. 
+The code for this experiment is given in \juliaref{julia:push-100}. 
+As explained earlier in \secref{sec:light-julia}, we begin with importing the SerialPorts 
+\cite{julia-serial-ports} package and the module ArduinoTools followed by setting up the serial port.
+Then, we read the input coming from digital pin 12 using the following
+command: 
+\lstinputlisting[firstline=7,lastline=7]
+  {\LocPushjuliacode/push-button-status.jl}
+  Note that the one leg of the pushbutton on the shield is connected to digital
+pin 12 of Arduino Uno as given in \figref{fig:pushbuttonconn}. The read value is displayed (or
+printed) by the following lines:
+\lstinputlisting[firstline=6,lastline=8]
+  {\LocPushjuliacode/push-button-status.jl} where {\tt val} contains the pushbutton value acquired by the previous command.
+  When the pushbutton is not pressed, {\tt val} will be ``0''. On the other hand,
+  when the pushbutton is pressed, {\tt val} will be ``1''. To encourage the user to have a good hands-on, we run these commands in a
+{\tt for} loop for 20 iterations. The readers are encouraged to change the number
+of iterations as per their requirements. While running this experiment, the readers
+must press and release the pushbutton and observe the values being printed
+on the Command Prompt (on Windows) or Terminal (on Linux), as the case
+maybe.
+
+\item This experiment is an extension of the previous
+  experiment. Here, we control the state of an LED as per the status
+  of the pushbutton. In other words, digital output to an LED is
+  decided by the digital input received from the pushbutton. The code
+  for this experiment is given in \juliaref{julia:push-200}. After reading
+  the pushbutton status, we turn the LED on if the pushbutton is
+  pressed, otherwise we turn it off. The following lines, 
+  \lstinputlisting[firstline=10,lastline=13]
+  {\LocPushjuliacode/led-push-button.jl} perform the condition check
+  and corresponding LED state control operation. While running this experiment, the readers must press and release the push-
+  button. Accordingly, they can observe whether the LED glows when the push-
+  button is pressed.
+\end{enumerate}
+
+\subsection{Julia Code}
+\label{sec:push-julia-code}
+\addtocontents{juliad}{\protect\addvspace{\codclr}}
+
+\begin{juliacode}
+\jcaption{Read the status of the pushbutton and display it on Command Prompt or the Terminal.}{Read the status of the pushbutton and display it on Command Prompt or the Terminal.  Available at
+  \LocPushjuliabrief{push-button-status.jl}.}
+\label{julia:push-100}
+\lstinputlisting{\LocPushjuliacode/push-button-status.jl}
+\end{juliacode}
+
+\begin{juliacode}
+\jcaption{Turning the LED on or off depending on the pushbutton}
+  {Turning the LED on or off depending on the pushbutton.  Available at
+  \LocPushjuliabrief{led-push-button.jl}.}
+\label{julia:push-200}
+\lstinputlisting{\LocPushjuliacode/led-push-button.jl}
+\end{juliacode}
+
diff --git a/user-code/push/push-python.tex b/user-code/push/push-python.tex
new file mode 100644
index 0000000..a61bd19
--- /dev/null
+++ b/user-code/push/push-python.tex
@@ -0,0 +1,69 @@
+%%%%%%%%%%%%python description starts
+\section{Reading the pushbutton status from Python}
+\subsection{Reading the pushbutton status}
+In this section, we discuss how to carry out the experiments of the
+previous section from Python.  We will list the same two experiments,
+in the same order.  The shield has to be attached to the \arduino\ board
+before doing these experiments 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.
+
+\begin{enumerate}
+\item In the first experiment, we will read the pushbutton status. The code for this experiment is given in
+  \pyref{py:push-100}. As explained earlier in \secref{sec:light-py}, we begin with 
+  importing necessary modules followed by setting up the serial port. 
+  Then, we read the input coming from digital pin 12 using the
+  following command:
+  \lstinputlisting[firstline=26,lastline=26]
+  {\LocPushpycode/push-button-status.py} Note that the one leg of the pushbutton on
+  the shield is connected to digital pin 12 of \arduino\, 
+  as given in \figref{fig:pushbuttonconn}. The read value is displayed (or printed) 
+ by the following lines: 
+   \lstinputlisting[firstline=25,lastline=28]
+  {\LocPushpycode/push-button-status.py} where {\tt val} contains
+  the pushbutton value acquired by the previous command. When the pushbutton is not pressed, {\tt val} will be ``0''. On the other hand,
+  when the pushbutton is pressed, {\tt val} will be ``1''.
+  To encourage the user to have a good hands-on, we run these commands in
+  a {\tt for} loop for 20 iterations. The readers are encouraged to change the number 
+  of iterations as per their requirements. While running this experiment, the readers must press
+  and release the pushbutton and observe the values being printed on the
+  Command Prompt (on Windows) or Terminal (on Linux), as the case maybe.
+
+
+\item This experiment is an extension of the previous
+  experiment. Here, we control the state of an LED as per the status
+  of the pushbutton. In other words, digital output to an LED is
+  decided by the digital input received from the pushbutton. The code
+  for this experiment is given in \pyref{py:push-200}. After reading
+  the pushbutton status, we turn the LED on if the pushbutton is
+  pressed, otherwise we turn it off. The following lines,
+  \lstinputlisting[firstline=28,lastline=31]
+  {\LocPushpycode/led-push-button.py} control the LED state based on the status 
+  of the pushbutton. While running this experiment, the readers must press and release the 
+  pushbutton. Accordingly, they can observe whether the LED glows when the pushbutton is pressed.
+\end{enumerate}
+
+\subsection{Python Code}
+\lstset{style=mystyle}
+\label{sec:push-python-code}
+\addtocontents{pyd}{\protect\addvspace{\codclr}}
+
+\begin{pycode}
+\pcaption{Read the status of the pushbutton and display it on the
+  Command Prompt or the Terminal}{Read the status of the pushbutton and display it on
+  Command Prompt or the Terminal.  Available at
+  \LocPushpybrief{push-button-status.py}.}
+\label{py:push-100}
+\lstinputlisting{\LocPushpycode/push-button-status.py}
+\end{pycode}
+
+\begin{pycode}
+\pcaption{Turning the LED on or off depending on the pushbutton}
+  {Turning the LED on or off depending on the pushbutton.  Available at
+  \LocPushpybrief{led-push-button.py}.}
+\label{py:push-200}
+\lstinputlisting{\LocPushpycode/led-push-button.py}
+\end{pycode}
+
+
diff --git a/user-code/push/push-scilab.tex b/user-code/push/push-scilab.tex
new file mode 100644
index 0000000..f05e75e
--- /dev/null
+++ b/user-code/push/push-scilab.tex
@@ -0,0 +1,183 @@
+\section{Reading the pushbutton Status from Scilab}
+\subsection{Reading the pushbutton Status}
+In this section, we discuss how to carry out the experiments of the
+previous section from Scilab. We will list the same two experiments,
+in the same order.  The shield has to be attached to the \arduino\ board
+before doing these experiments 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. 
+\begin{enumerate}
+\item In the first experiment, we will read the pushbutton status using a 
+Graphical user interface (GUI) in Scilab. The code for this experiment is 
+given in  \sciref{sci:push-100}. As explained earlier in \secref{sec:light-sci}, 
+we begin with serial port initialization. Then, we read the input coming from
+digital pin 12 using the following command: 
+  \lstinputlisting[firstline=4,lastline=4]
+  {\LocPushscicode/push-button-status.sce} Note that the one leg of the pushbutton on
+  the shield is connected to digital pin 12 of \arduino\, 
+  as given in \figref{fig:pushbuttonconn}. The read value is displayed as a GUI using
+  the following command: \lstinputlisting[firstline=5,lastline=5]
+  {\LocPushscicode/push-button-status.sce} where {\tt val} contains
+  the pushbutton value acquired by the previous command.
+  When the pushbutton is not pressed, {\tt val} will be ``0''. On the other hand,
+  when the pushbutton is pressed, {\tt val} will be ``1''. To
+  encourage the user to have a good hands-on, we run these commands in
+  a {\tt for} loop for 1000 iterations. While running this experiment, 
+  the readers must press and release the pushbutton and observe the values being printed on the
+  GUI, as shown in \figref{fig:ard-meter}.
+ \begin{figure}
+    \centering
+    \includegraphics[width=\smfig]{\LocPushfig/sci-ard-meter.png}
+    \caption{GUI in Scilab to show the status of the pushbutton}
+    %\redcolor{connected on pin no. D12}}
+    \label{fig:ard-meter}
+  \end{figure}
+\item This experiment is an extension of the previous
+  experiment. Here, we control the state of an LED as per the status
+  of the pushbutton. In other words, digital output to an LED is
+  decided by the digital input received from the pushbutton. The code
+  for this experiment is given in \sciref{sci:push-200}. After reading
+  the pushbutton status, we turn the LED on if the pushbutton is
+  pressed, otherwise we turn it off. The following lines,
+  \lstinputlisting[firstline=6,lastline=9]
+  {\LocPushscicode/led-push-button.sce} perform the condition check
+  and corresponding LED state control operation. While running this experiment, the readers 
+  must press and release the pushbutton. Accordingly, they can observe whether 
+  the LED glows when the pushbutton is pressed. 
+\end{enumerate}
+
+\subsection{Scilab Code}
+\label{sec:push-scilab-code}
+\addtocontents{cod}{\protect\addvspace{\codclr}}
+
+\begin{scicode}
+\ccaption{Read the status of the pushbutton and display it on the GUI}
+{Read the status of the pushbutton and display it on the GUI.  Available at
+  \LocPushscibrief{push-button-status.sce}.}
+\label{sci:push-100}
+\lstinputlisting{\LocPushscicode/push-button-status.sce}
+\end{scicode}
+
+\begin{scicode}
+\ccaption{Turning the LED on or off depending on the pushbutton}
+  {Turning the LED on or off depending on the pushbutton.  Available at
+  \LocPushscibrief{led-push-button.sce}.}
+\label{sci:push-200}
+\lstinputlisting{\LocPushscicode/led-push-button.sce}
+\end{scicode}
+
+
+
+
+\section{Accessing the pushbutton from Xcos}
+\label{sec:push-xcos}
+In this section, we will see how to access the pushbutton from Scilab
+Xcos.  We will carry out the same two experiments as in the previous
+sections.  For each, 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.
+
+\begin{enumerate}
+\item First we will read the push button value and print it.  When the
+  file required for this experiment is invoked, one gets the GUI as in
+  \figref{fig:push-button-status}.  In the caption of this figure, one
+  can see where to locate the file.
+
+  As discussed in earlier chapters, we start with the initialization
+  of the serial port. Next, using {\tt Digital Read} block, we read
+  the status of pushbutton connected on digital pin 12. The read
+  values are displayed.  When a user presses the pushbutton, change in
+  the logic value from low to high can be observed.
+
+  \begin{figure}
+    \centering
+    \includegraphics[width=\smfig]{\LocPushfig/push-button-status.PNG}
+    \caption[Printing the push button status on the display block]
+    {Printing the push button status on the display block.  This is
+      what one sees when
+        \LocPushscibrief{push-button-status.zcos}, is invoked.}
+    \label{fig:push-button-status}
+  \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:push-button-status}.  All other
+  parameters are to be left unchanged.
+  \begin{table}
+    \centering
+    \caption{Parameters to print the push button status on the display
+      block} 
+    \label{tab:push-button-status}
+    \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
+      DIGITAL\_READ\_SB & Digital pin & 12 \\
+      & Arduino card number & 1 \\ \hline 
+      AFFICH\_m & Block inherits (1) or not  (0) & 1 \\ \hline
+    \end{tabular}
+  \end{table}
+
+\item In the second experiment, we take a step further and control the
+  state of an LED in accordance with the status of the pushbutton. The
+  Xcos implementation for this experiment is shown in
+  \figref{fig:led-push-button}. Each time a user presses the
+  pushbutton, the LED on digital pin 9 of the shield is switched
+  on. If the shield is connected, the blue LED turns on.  When
+  the pushbutton is released, the LED is switched off. Here, we note that
+  the digital logic level of the pin of the \arduino\ board connected
+  to pushbutton changes only for the time the pushbutton is being
+  pressed.
+
+  \begin{figure}
+    \centering
+    \includegraphics[width=\smfig]{\LocPushfig/led-push-button.PNG}
+    \caption[Turning the LED on or off, depending on the pushbutton]
+    {Turning the LED on or off, depending on the pushbutton.  This is
+      what one sees when
+        \LocPushscibrief{led-push-button.zcos}, is invoked.}
+    \label{fig:led-push-button}
+  \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:led-push-button}.  All other
+  parameters are to be left unchanged.
+  \begin{table}
+    \centering
+    \caption{Xcos parameters to turn the LED on through the pushbutton}
+    \label{tab:led-push-button}
+    \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
+      DIGITAL\_READ\_SB & Digital pin & 12 \\
+      & Arduino card number & 1 \\ \hline 
+      DIGITAL\_WRITE\_SB & Digital pin & 9 \\
+      & Card number & 1 \\ \hline
+    \end{tabular}
+  \end{table}
+\end{enumerate}
+
+\begin{exercise}
+Let us carry out the following exercise:
+\begin{enumerate}
+\item In the above experiment, we controlled only one LED upon
+  pushbutton press. Next, control multiple devices upon the pushbutton
+  press. For example, upon press, turn on an LED and a motor and turn
+  them off upon release.
+\item Control several devices depending on the number of pushbutton
+  press in a definite time span. For example, if the pushbutton is
+  pressed once in time 't',say, turn on the LED. If it is pressed
+  twice in time 't', turn on the motor. Here, you may want to consider
+  the timing between two consecutive press.
+\end{enumerate}
+\end{exercise}
+
diff --git a/user-code/servo/servo-OM.tex b/user-code/servo/servo-OM.tex
new file mode 100644
index 0000000..427414d
--- /dev/null
+++ b/user-code/servo/servo-OM.tex
@@ -0,0 +1,123 @@
+\section{Controlling the servomotor through OpenModelica}
+\subsection{Controlling the servomotor}
+\label{sec:servo-OpenModelica}
+In this section, we discuss how to carry out the experiments of the
+previous section from OpenModelica.  We will list the same four 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.
+
+\begin{enumerate}
+
+  \item The first experiment makes the servomotor move by $30^\circ$. The code for this experiment is
+        given in \OpenModelicaref{OpenModelica:servo-init}. 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, we attach the servomotor by issuing the command given below:
+        
+        \lstinputlisting[firstline=13,lastline=13]{\LocSEROpenModelicacode/servo-init.mo}
+        As shown above, the servomotor is attached on board 1 (the first argument)
+        to pin 1 (the second argument).  In the OpenModelica-Arduino toolbox discussed 
+        in \secref{sec:load-om-toolbox}, pin 1 and pin 5 are connected. As a result, we connect the wire physically to
+        pin 5, which is achieved by the shield as discussed in \secref{sec:servo-pril}.
+        
+        With this, we issue the command to move the servomotor by $30^\circ$ followed by a delay of 
+        1 second:
+        \lstinputlisting[firstline=14,lastline=14]
+        {\LocSEROpenModelicacode/servo-init.mo}
+        At last, we  detach the servomotor followed by closing the serial port. 
+        
+        Once this code is executed, the servomotor would move by
+        $30^\circ$, as commanded.  What happens if this code is executed
+        once again?  The motor will not move at all.  What is the reason?
+        Recall that what we assign to the motor are absolute positions, with
+        respect to a fixed origin.  As a result, there will be no change at
+        all. 
+        
+  \item In the second experiment, we move the servomotor by $90^\circ$ in the
+        forward direction and $45^\circ$ in the reverse direction.  This
+        code is given in \OpenModelicaref{OpenModelica:servo-reverse}.  As mentioned
+        earlier, the angles are absolute with respect to a fixed reference
+        point and not relative.   In this code, 
+        we have added a delay of 1000 milliseconds between the two instances of 
+        moving the servomotor: 
+        \lstinputlisting[firstline=15,lastline=17]
+        {\LocSEROpenModelicacode/servo-reverse.mo}
+        What is the reason behind this delay?  If the delay were not
+        there, the motor will move only by the net angle of $90-45 = 45$
+        degrees.  The reader should verify this by commenting on the delay
+        command. 
+        
+        
+  \item In the third experiment, we move the motor in increments of
+        $20^\circ$.  This is achieved by the {\tt for} loop, as in
+        \OpenModelicaref{OpenModelica:servo-loop}. The code helps the motor move in steps of $20^\circ$ all
+        the way to $180^\circ$.  
+        
+  \item Finally, in the last experiment, we read the potentiometer value
+        from the shield and use it to drive the servomotor, see
+        \OpenModelicaref{OpenModelica:servo-pot}.  The resistance of the potentiometer is
+        represented in 10 bits.  As a result, the resistance value could be
+        any one of 1024 values, from 0 to 1023.  This entire range is
+        mapped to $180^\circ$, as shown below:
+        \lstinputlisting[firstline=17,lastline=19]
+        {\LocSEROpenModelicacode/servo-pot.mo}
+        By rotating the potentiometer, one can make
+        the motor move by different amounts.
+        
+        As mentioned in \chapref{potmeter}, the potentiometer on the shield is connected 
+        to analog pin 2 on \arduino. Through this pin, the resistance of the potentiometer, in the range of 0 to 1023,
+        depending on its position, is read.  Thus, by rotating the
+        potentiometer, we make different values appear on pin 2.  This value
+        is used to move the servo.  For example, if the resistance is half
+        of the total, the servomotor will go to $90^\circ$ and so on.  The
+        servomotor stops for 500 milliseconds after every move.  The loop is
+        executed for 50 iterations. During this period, the servomotor keeps moving as dictated by the
+        resistance of the potentiometer. While running this experiment, the readers 
+        must rotate the knob of the potentiometer by a fixed amount and observe 
+        the change in the position (or angle) of the servomotor. 
+        
+\end{enumerate}
+
+\subsection{OpenModelica Code}
+\lstset{style=mystyle}
+\label{sec:servo-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 servomotor to a specified degree} {Rotating
+    the servomotor to a specified degree. Available at Arduino -> 
+    SerialCommunication -> Examples -> servo -> servo\_init.}
+  \label{OpenModelica:servo-init}
+  \lstinputlisting{\LocSEROpenModelicacode/servo-init.mo}
+\end{OpenModelicacode}
+
+\begin{OpenModelicacode}
+  \mcaption{Rotating the servomotor to a specified degree and
+    reversing} {Rotating
+    the servomotor to a specified degree and reversing.  Available at Arduino -> 
+    SerialCommunication -> Examples -> servo -> servo\_reverse.}
+  \label{OpenModelica:servo-reverse}
+  \lstinputlisting{\LocSEROpenModelicacode/servo-reverse.mo}
+\end{OpenModelicacode}
+
+\begin{OpenModelicacode}
+  \mcaption{Rotating the servomotor in steps of $20^\circ$}{Rotating
+    the servomotor in steps of $20^\circ$.  Available at Arduino -> 
+    SerialCommunication -> Examples -> servo -> servo\_loop.}
+  \label{OpenModelica:servo-loop}
+  \lstinputlisting{\LocSEROpenModelicacode/servo-loop.mo}
+\end{OpenModelicacode}
+
+\begin{OpenModelicacode}
+  \mcaption{Rotating the servomotor to a degree specified by the
+    potentiometer} {Rotating the servomotor to a degree specified by
+    the potentiometer.  Available at Arduino -> 
+    SerialCommunication -> Examples -> servo -> servo\_pot.}
+  \label{OpenModelica:servo-pot}
+  \lstinputlisting{\LocSEROpenModelicacode/servo-pot.mo}
+\end{OpenModelicacode}
diff --git a/user-code/servo/servo-base.tex b/user-code/servo/servo-base.tex
new file mode 100644
index 0000000..70d088d
--- /dev/null
+++ b/user-code/servo/servo-base.tex
@@ -0,0 +1,273 @@
+\chapter {Interfacing a Servomotor}

+\thispagestyle{empty}

+\label{sec:servo}

+\newcommand{\LocSERfig}{\Origin/user-code/servo/figures}

+\newcommand{\LocSERscicode}{\Origin/user-code/servo/scilab}

+\newcommand{\LocSERscibrief}[1]{{\tt \seqsplit{%

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

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

+

+\newcommand{\LocSERardcode}{\Origin/user-code/servo/arduino}

+\newcommand{\LocSERardbrief}[1]{{\tt \seqsplit{%

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

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

+

+%%%%%%%%%%%%%%%python starts

+\newcommand{\LocSERpycode}{\Origin/user-code/servo/python}

+\newcommand{\LocSERpybrief}[1]{{\tt \seqsplit{%

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

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

+%%%%%%%%%%%%%%%python ends

+

+%%%%%%%%%%%%%%%julia starts

+\newcommand{\LocSERjuliacode}{\Origin/user-code/servo/julia}

+\newcommand{\LocSERjuliabrief}[1]{{\tt \seqsplit{%

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

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

+%%%%%%%%%%%%%%%julia ends

+

+%%%%%%%%%%%%%%% OpenModelica starts

+\newcommand{\LocSEROpenModelicacode}{\Origin/user-code/servo/OpenModelica}

+\newcommand{\LocSEROpenModelicabrief}[1]{{\tt \seqsplit{%

+        Origin/user-code/servo/OpenModelica/#1}},

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

+%%%%%%%%%%%%%%% OpenModelica ends

+

+A servomotor is a very useful industrial control mechanism.  Learning

+to control it will be extremely useful for practitioners.  In this

+chapter, we will explain how to control a servomotor using the

+\arduino\ board.  We will begin with preliminaries of servomotors and

+explain how to connect a typical servomotor to the \arduino\ board and

+shield.  We will then explain how to control it through the Arduino IDE,

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

+We will provide code for all the experiments.

+

+\section{Preliminaries}

+\label{sec:servo-pril}

+A servomotor is a rotary control mechanism.  It can be commanded to

+rotate to a specified angle.  It can rotate in positive or negative

+direction.  Using servomotors, one can control

+angular position, velocity and acceleration.  Servomotors are useful

+in many applications.  Some examples are robotics, industrial motors

+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 $0^\circ$.}.

+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

+from one model to another.  Low cost servomotors have a large least

+count, say, of the order of $10^\circ$.

+

+A servomotor typically comes with three terminals for the

+following three signals: position signal, Vcc and ground. 

+Position signal means that this terminal should be connected to 

+one of the PWM (Pulse Width Modulation) pins \cite{arduino-pwm} on \arduino. 

+This book uses PWM pin 5 for this purpose. 

+Rest two terminals (Vcc and ground) need to be connected to 5V and GND on \arduino. 

+\tabref{tab:servo-connect} summarizes these connections. 

+

+We now explain how to connect a typical servomotor to the shield attached 

+on the \arduino\ board. On the shield, there is a three-pin header at one of the 

+ends. The pins of this header have been marked as $1$, $2$, and $3$. These pins:

+$1$, $2$, and $3$ are internally connected to 5V, PWM pin 5, and GND on \arduino\, respectively.  

+As discussed before, a typical servomotor has three terminals. Thus, the readers need to 

+connect these three terminals with the three-pin header, as shown in \figref{fig:servo-shield}

+before running the experiments given in this chapter. 

+

+\begin{figure}

+  \centering

+  \includegraphics[width=\lgfig]{\LocSERfig/servo-uno-shield.jpg}

+  \caption{Connecting servomotor to the shield attached on \arduino}

+  \label{fig:servo-shield}

+\end{figure}

+

+

+\begin{table}

+  \centering

+  \caption{Connecting a typical servomotor to \arduino\ board}

+  \label{tab:servo-connect}

+  \begin{tabular}{lc}\hline

+    Servomotor terminal                & Arduino board \\ \hline

+    Position signal (orange or yellow) & 5             \\

+    Vcc (red or orange)                & 5V            \\

+    Ground (black or brown)            & GND           \\ 

+    \hline

+  \end{tabular}

+\end{table}

+

+

+\section{Connecting a servomotor with \arduino\ using a breadboard}

+This section is useful for those who either don't have a shield or don't want to use the shield

+for performing the experiments given in this chapter. 

+

+A breadboard is a device for holding the components of a circuit and connecting 

+them together. We can build an electronic circuit on a breadboard without doing any 

+soldering. To know more about the breadboard and other electronic components, 

+one should watch the Spoken Tutorials on Arduino as published on

+  {\tt https://spoken-tutorial.org/}. Ideally, one should go through all the

+tutorials labeled as Basic. However, we strongly recommend the readers should

+watch the fifth and sixth tutorials, i.e., {\tt First Arduino Program} and 

+  {\tt Arduino with Tricolor LED and Push button}.

+

+In case you have a servomotor and want to connect it with \arduino\ on a breadboard, 

+please refer to \figref{fig:servo-bread}. 

+\begin{figure}

+  \centering

+  \includegraphics[width=\hgfig]{\LocSERfig/servo-bb.png}

+  \caption{A servomotor with \arduino\ using a breadboard}

+  \label{fig:servo-bread}

+\end{figure}

+As shown in \figref{fig:servo-bread}, there is a servomotor with three 

+terminals. These terminals are used for the same three signals, as that explained 

+in \secref{sec:servo-pril}. The connections shown in \figref{fig:servo-pot-bread} can 

+be used to control the position of the servomotor, depending on the 

+values coming from a potentiometer. As shown in \figref{fig:servo-pot-bread}, 

+analog pin 2 on \arduino\ is connected to the middle leg of the 

+potentiometer. Rest of the connections are same as that in \figref{fig:servo-bread}. 

+

+\begin{figure}

+  \centering

+  \includegraphics[width=\hgfig]{\LocSERfig/servo-pot-bb.png}

+  \caption{A servomotor and a potentiometer with \arduino\ using a breadboard}

+  \label{fig:servo-pot-bread}

+\end{figure}

+

+\section{Controlling the servomotor through the Arduino IDE}

+\subsection{Controlling the servomotor}

+\label{sec:servo-ard}

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

+rotate the servomotor based on the command given from Arduino IDE.  We

+will also give the necessary code.  We will present four experiments

+in this section.  The shield has to be attached to the \arduino\ board

+before doing these experiments 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.

+

+\begin{enumerate}

+  %\setcounter{enumi}{-1}

+  \item In the first experiment, we will move the servomotor by

+        $30^\circ$. \ardref{ard:servo-init} has the required code for this.  

+        This code makes use of a library named {\tt Servo} \cite{servo-lib}. 

+        Thus, we include its header file at the top of \ardref{ard:servo-init}:

+        \lstinputlisting[firstline=1,lastline=1]

+        {\LocSERardcode/servo-init/servo-init.ino}

+        Next, we create a {\tt Servo} object and call it {\tt myservo}, as shown below:

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

+        {\LocSERardcode/servo-init/servo-init.ino}

+        Most Arduino boards allow the creation of 12 servo objects. Next, we initialize the port for serial communication at

+        data rate of 115200 bits per second. Following to this, we mention the 

+        pin to which the servo is attached, as shown below:

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

+        {\LocSERardcode/servo-init/servo-init.ino}

+        With this, we issue the command to rotate the servomotor by $30^\circ$ followed by a delay of 

+        1000 milliseconds:

+        \lstinputlisting[firstline=6,lastline=7]

+        {\LocSERardcode/servo-init/servo-init.ino}

+        At last, we  detach the servomotor.    

+        

+        Once this code is executed, the servomotor would move by

+        $30^\circ$, as commanded.  What happens if this code is executed

+        once again?  The motor will not move at all.  What is the reason?

+        Recall that what we assign to the motor are absolute positions, with

+        respect to a fixed origin.  As a result, there will be no change at

+        all. 

+        

+  \item In the second experiment, we move the motor by $90^\circ$ in the

+        forward direction and $45^\circ$ in the reverse direction.  This

+        code is given in \ardref{ard:servo-reverse}.  In this code, 

+        we have added a delay of 1000 milliseconds between the two instances of 

+        rotating the servomotor: 

+        \lstinputlisting[firstline=6,lastline=8]

+        {\LocSERardcode/servo-reverse/servo-reverse.ino}

+        What is the reason behind this delay?  If the delay were not

+        there, the motor will move only by the net angle of $90-45 = 45$

+        degrees.  The reader should verify this by commenting on the delay

+        command.

+        

+  \item In the third experiment, we move the motor in increments of

+        $20^\circ$.  This is achieved by the {\tt for} loop, as in

+        \ardref{ard:servo-loop}.  Both {\tt i}, the loop variable and {\tt

+            angle}, the variable to store angle, are declared as {\tt int} in

+        this code.  The code helps the motor move in steps of $20^\circ$ all

+        the way to $180^\circ$.  

+        

+  \item Finally, in the last experiment, we read the potentiometer value

+        from the shield and use it to drive the servomotor, see

+        \ardref{ard:servo-pot}.  The resistance of the potentiometer is

+        represented in 10 bits.  As a result, the resistance value could be

+        any one of 1024 values, from 0 to 1023.  This entire range is

+        mapped to $180^\circ$, as shown below:

+        \lstinputlisting[firstline=10,lastline=12]

+        {\LocSERardcode/servo-pot/servo-pot.ino}

+        By rotating the potentiometer, one can make

+        the motor move by different amounts.

+        

+        As mentioned in \chapref{potmeter}, the potentiometer on the shield is connected 

+        to analog pin 2 on \arduino. Through this pin, the resistance of the potentiometer, in the range of 0 to 1023,

+        depending on its position, is read.  Thus, by rotating the

+        potentiometer, we make different values appear on pin 2.  This value

+        is used to move the servo.  For example, if the resistance is half

+        of the total, the servomotor will go to $90^\circ$ and so on.  The

+        servomotor stops for 500 milliseconds after every move.  The loop is

+        executed for 50 iterations. During this period, the servomotor keeps moving as dictated by the

+        resistance of the potentiometer. While running this experiment, the readers 

+        must rotate the knob of the potentiometer and observe 

+        the change in the position (or angle) of the servomotor.   

+        

+\end{enumerate}

+

+\begin{exercise}

+  Let us carry out this exercise:

+  \begin{enumerate}

+    \item In \ardref{ard:servo-loop}, the loop parameter {\tt i} starts

+          from 1.  From what angle will the motor start?  If one wants the

+          motor to start from $0^\circ$, what should one do?

+    \item How does one find the least count of the servomotor?  If the

+          variable {\tt angle} is chosen to be less than this least count in

+          \ardref{ard:servo-loop}, what happens?

+    \item What happens if 180 in Line 10 of \ardref{ard:servo-pot} is

+          changed to 90?  What does the change 180 to 90 mean?

+  \end{enumerate}

+\end{exercise}

+

+\subsection{Arduino Code}

+\lstset{style=mystyle}

+\label{sec:servo-arduino-code}

+\addtocontents{ard}{\protect\addvspace{\codclr}}

+

+\begin{ardcode}

+  \acaption{Rotating the servomotor to a specified degree} {Rotating

+    the servomotor to a specified degree.  Available at

+    \LocSERardbrief{servo-init/servo-init.ino}.}

+  \label{ard:servo-init}

+  \lstinputlisting{\LocSERardcode/servo-init/servo-init.ino}

+\end{ardcode}

+

+\begin{ardcode}

+  \acaption{Rotating the servomotor to a specified degree and

+    reversing} {Rotating

+    the servomotor to a specified degree and reversing.  Available at

+    \LocSERardbrief{servo-reverse/servo-reverse.ino}.}

+  \label{ard:servo-reverse}

+  \lstinputlisting{\LocSERardcode/servo-reverse/servo-reverse.ino}

+\end{ardcode}

+

+\begin{ardcode}

+  \acaption{Rotating the servomotor in increments} {Rotating the

+    servomotor in increments.  Available at

+    \LocSERardbrief{servo-loop/servo-loop.ino}.}

+  \label{ard:servo-loop}

+  \lstinputlisting{\LocSERardcode/servo-loop/servo-loop.ino}

+\end{ardcode}

+

+\begin{ardcode}

+  \acaption{Rotating the servomotor through the potentiometer}

+  {Rotating the servomotor through the potentiometer.  Available at

+    \LocSERardbrief{servo-pot/servo-pot.ino}.}

+  \label{ard:servo-pot}

+  \lstinputlisting{\LocSERardcode/servo-pot/servo-pot.ino}

+\end{ardcode}

+

diff --git a/user-code/servo/servo-julia.tex b/user-code/servo/servo-julia.tex
new file mode 100644
index 0000000..8711d4b
--- /dev/null
+++ b/user-code/servo/servo-julia.tex
@@ -0,0 +1,123 @@
+\section{Controlling the servomotor through Julia}
+\subsection{Controlling the servomotor}
+\label{sec:servo-julia}
+In this section, we discuss how to carry out the experiments of the
+previous section from Julia.  We will list the same four 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.
+
+
+\begin{enumerate}
+  \item The first experiment makes the servomotor move by $30^\circ$. The code for this experiment is
+        given in \juliaref{julia:servo-init}. As explained earlier in \secref{sec:light-julia}, 
+        we begin with importing necessary modules followed by setting up the serial port.
+        Next, we attach the servomotor by issuing the command given below:
+        \lstinputlisting[firstline=5,lastline=5]{\LocSERjuliacode/servo-init.jl}
+        As shown above, the servomotor is attached on the serial port (the first argument)
+        to pin 1 (the second argument).  In the Julia-Arduino toolbox discussed 
+        in \secref{sec:julia-toolbox}, pin 1 and pin 5 are connected. As a result, we connect the wire physically to
+        pin 5, which is achieved by the shield as discussed in \secref{sec:servo-pril}.
+        
+        With this, we issue the command to move the servomotor by $30^\circ$ followed by a delay of 
+        1 second:
+        \lstinputlisting[firstline=6,lastline=6]
+        {\LocSERjuliacode/servo-init.jl}
+        At last, we  detach the servomotor followed by closing the serial port. 
+        
+        Once this code is executed, the servomotor would move by
+        $30^\circ$, as commanded.  What happens if this code is executed
+        once again?  The motor will not move at all.  What is the reason?
+        Recall that what we assign to the motor are absolute positions, with
+        respect to a fixed origin.  As a result, there will be no change at
+        all. 
+        
+  \item In the second experiment, we move the servomotor by $90^\circ$ in the
+        forward direction and $45^\circ$ in the reverse direction.  This
+        code is given in \juliaref{julia:servo-reverse}.  As mentioned
+        earlier, the angles are absolute with respect to a fixed reference
+        point and not relative.   In this code, 
+        we have added a delay of 1 second between the two instances of 
+        moving the servomotor: 
+        \lstinputlisting[firstline=6,lastline=8]
+        {\LocSERjuliacode/servo-reverse.jl}
+        What is the reason behind this delay?  If the delay were not
+        there, the motor will move only by the net angle of $90-45 = 45$
+        degrees.  The reader should verify this by commenting on the delay
+        command. 
+        
+        
+  \item In the third experiment, we move the motor in increments of
+        $20^\circ$.  This is achieved by the {\tt for} loop, as in
+        \juliaref{julia:servo-loop}. The code helps the motor move in steps of $20^\circ$ all
+        the way to $180^\circ$.  
+        
+  \item Finally, in the last experiment, we read the potentiometer value
+        from the shield and use it to drive the servomotor, see
+        \juliaref{julia:servo-pot}.  The resistance of the potentiometer is
+        represented in 10 bits.  As a result, the resistance value could be
+        any one of 1024 values, from 0 to 1023.  This entire range is
+        mapped to $180^\circ$, as shown below:
+        \lstinputlisting[firstline=7,lastline=10]
+        {\LocSERjuliacode/servo-pot.jl}
+        By rotating the potentiometer, one can make
+        the motor move by different amounts.
+        
+        As mentioned in \chapref{potmeter}, the potentiometer on the shield is connected 
+        to analog pin 2 on \arduino. Through this pin, the resistance of the potentiometer, in the range of 0 to 1023,
+        depending on its position, is read.  Thus, by rotating the
+        potentiometer, we make different values appear on pin 2.  This value
+        is used to move the servo.  For example, if the resistance is half
+        of the total, the servomotor will go to $90^\circ$ and so on.  The
+        servomotor stops for 500 milliseconds after every move.  The loop is
+        executed for 50 iterations. During this period, the servomotor keeps moving as dictated by the
+        resistance of the potentiometer. While running this experiment, the readers 
+        must rotate the knob of the potentiometer by a fixed amount and observe 
+        the change in the position (or angle) of the servomotor.   
+        
+        % The {\tt floor} function gets the integer part of the number by
+        % truncation.  This is the angle by which the potentiometer is to be
+        % moved.  Truncation is a not a crucial calculation, however.  In
+        % every iteration, the servomotor's position is calculated, and placed
+        % for half a second.  This loop is iterated upon 500 times.
+\end{enumerate}
+
+\subsection{Julia Code}
+\lstset{style=mystyle}
+\label{sec:servo-julia-code}
+\addtocontents{juliad}{\protect\addvspace{\codclr}}
+
+\begin{juliacode}
+  \jcaption{Rotating the servomotor to a specified degree} {Rotating
+    the servomotor to a specified degree.  Available at
+    \LocSERjuliabrief{servo-init.jl}.}
+  \label{julia:servo-init}
+  \lstinputlisting{\LocSERjuliacode/servo-init.jl}
+\end{juliacode}
+
+\begin{juliacode}
+  \jcaption{Rotating the servomotor to a specified degree and
+    reversing} {Rotating
+    the servomotor to a specified degree and reversing.  Available at
+    \LocSERjuliabrief{servo-reverse.jl}.}
+  \label{julia:servo-reverse}
+  \lstinputlisting{\LocSERjuliacode/servo-reverse.jl}
+\end{juliacode}
+
+\begin{juliacode}
+  \jcaption{Rotating the servomotor in steps of $20^\circ$}{Rotating
+    the servomotor in steps of $20^\circ$.  Available at 
+    \LocSERjuliabrief{servo-loop.jl}.}
+  \label{julia:servo-loop}
+  \lstinputlisting{\LocSERjuliacode/servo-loop.jl}
+\end{juliacode}
+
+\begin{juliacode}
+  \jcaption{Rotating the servomotor to a degree specified by the
+    potentiometer} {Rotating the servomotor to a degree specified by
+    the potentiometer.  Available at \LocSERjuliabrief{servo-pot.jl}.}
+  \label{julia:servo-pot}
+  \lstinputlisting{\LocSERjuliacode/servo-pot.jl}
+\end{juliacode}
+
diff --git a/user-code/servo/servo-python.tex b/user-code/servo/servo-python.tex
new file mode 100644
index 0000000..a8e2606
--- /dev/null
+++ b/user-code/servo/servo-python.tex
@@ -0,0 +1,169 @@
+\section{Controlling the servomotor through Python}
+\subsection{Controlling the servomotor}
+\label{sec:servo-py}
+In this section, we discuss how to carry out the experiments of the
+previous section from Python.  We will list the same four 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.
+
+% In this section, we will carry out the servomotor control experiments
+% using python.  We will follow the same order as in
+% \secref{sec:servo-ard}.  We assume that the shield is attached to the
+% \arduino\ board while doing these experiments.  They will work without
+% the shield also, but in this case, our comments on colour LEDs
+% lighting will not be applicable.  The reader should go through the
+% instructions given in \secref{sec:py-start} before getting started.
+
+\begin{enumerate}
+  \item The first experiment makes the servomotor move by $30^\circ$. The code for this experiment is
+        given in \pyref{py:servo-init}. As explained earlier in \secref{sec:light-py}, 
+        we begin with importing necessary modules followed by setting up the serial port.
+        Next, we attach the servomotor by issuing the command given below:
+        \lstinputlisting[firstline=24,lastline=24]{\LocSERpycode/servo-init.py}
+        As shown above, the servomotor is attached on board 1 (the first argument)
+        to pin 1 (the second argument).  In the Python-Arduino toolbox discussed 
+        in \secref{sec:python-toolbox}, pin 1 and pin 5 are connected. As a result, we connect the wire physically to
+        pin 5, which is achieved by the shield as discussed in \secref{sec:servo-pril}.
+        
+        With this, we issue the command to move the servomotor by $30^\circ$ followed by a delay of 
+        1 second:
+        \lstinputlisting[firstline=25,lastline=26]
+        {\LocSERpycode/servo-init.py}
+        At last, we  detach the servomotor followed by closing the serial port. 
+        
+        Once this code is executed, the servomotor would move by
+        $30^\circ$, as commanded.  What happens if this code is executed
+        once again?  The motor will not move at all.  What is the reason?
+        Recall that what we assign to the motor are absolute positions, with
+        respect to a fixed origin.  As a result, there will be no change at
+        all. 
+        
+  \item In the second experiment, we move the servomotor by $90^\circ$ in the
+        forward direction and $45^\circ$ in the reverse direction.  This
+        code is given in \pyref{py:servo-reverse}.  In this code, 
+        we have added a delay of 1 second between the two instances of 
+        moving the servomotor: 
+        \lstinputlisting[firstline=25,lastline=27]
+        {\LocSERpycode/servo-reverse.py}
+        What is the reason behind this delay?  If the delay were not
+        there, the motor will move only by the net angle of $90-45 = 45$
+        degrees.  The reader should verify this by commenting on the delay
+        command. 
+        
+        % In \sciref{sci:servo-reverse}, we make the servomotor rotate
+        % to $90^\circ$, wait for a second and go to $45^\circ$.  As mentioned
+        % earlier, the angles are absolute with respect to a fixed reference
+        % point and not relative.  
+        
+        
+  \item In the third experiment, we move the motor in increments of
+        $20^\circ$.  This is achieved by the {\tt for} loop, as in
+        \pyref{py:servo-loop}. The code helps the motor move in steps of $20^\circ$ all
+        the way to $180^\circ$.  
+        
+  \item Finally, in the last experiment, we read the potentiometer value
+        from the shield and use it to drive the servomotor, see
+        \pyref{py:servo-pot}.  The resistance of the potentiometer is
+        represented in 10 bits.  As a result, the resistance value could be
+        any one of 1024 values, from 0 to 1023.  This entire range is
+        mapped to $180^\circ$, as shown below:
+        \lstinputlisting[firstline=27,lastline=29]
+        {\LocSERpycode/servo-pot.py}
+        By rotating the potentiometer, one can make
+        the motor move by different amounts.
+        
+        As mentioned in \chapref{potmeter}, the potentiometer on the shield is connected 
+        to analog pin 2 on \arduino. Through this pin, the resistance of the potentiometer, in the range of 0 to 1023,
+        depending on its position, is read.  Thus, by rotating the
+        potentiometer, we make different values appear on pin 2.  This value
+        is used to move the servo.  For example, if the resistance is half
+        of the total, the servomotor will go to $90^\circ$ and so on.  The
+        servomotor stops for 500 milliseconds after every move.  The loop is
+        executed for 50 iterations. During this period, the servomotor keeps moving as dictated by the
+        resistance of the potentiometer. While running this experiment, the readers 
+        must rotate the knob of the potentiometer by a fixed amount and observe 
+        the change in the position (or angle) of the servomotor.   
+        % In the first experiment, we will learn how to drive the servomotor motor
+        % from Python. The code for this experiment is 
+        % given in  \pyref{py:servo-init}. 
+        
+        % The first experiment makes the servomotor move by $30^\circ$,
+        %       the code for which is given in \pyref{py:servo-init}.
+        %       It first opens com port 2 in \arduino\ card number 1 with baud rate
+        %       of 115200.  If the port opening is unsuccessful {\tt ok} will not be
+        %       0 and the program terminates, asking the user to correct the
+        %       problem.  Else If the port opening is successful, {\tt ok} will be 0
+        %       and the program proceeds.  In Line number 3 of the code, \ie\
+        %       \lstinputlisting[firstline=3,lastline=3]{\LocSERpycode/servo-init.py}
+        %       we say that the servomotor is attached on board 1 (the first entry)
+        %       to pin 1 (the second entry).  In the \scilab\ toolbox, pin 1 and pin
+        %       9 are connected and as a result, we connect the wire physically to
+        %       pin 9.  Similarly, pins 2 and 10 are connected through the
+        %       \scilab\ toolbox.
+        
+        % \item In \sciref{py:servo-reverse}, we make the servomotor rotate
+        %       to $90^\circ$, wait for a second and go to $45^\circ$.  As mentioned
+        %       earlier, the angles are absolute with respect to a fixed reference
+        %       point and not relative.  
+        
+        % \item In the next experiment, we rotate the servomotor in discrete
+        %       steps of $20^\circ$.  This is achieved by multiplying $20^\circ$ by
+        %       an integer {\tt i}, which varies from 0 to 10.  Once the maximum
+        %       angle reaches $180^\circ$, it stops.  
+        
+        % \item Finally, in the last experiment, we position the servomotor
+        %       through the potentiometer in the code \pyref{py:servo-pot}.  As we
+        %       rotate the potentiometer, the servomotor's angle also changes.  The
+        %       potentiometer value is read through pin 2, in line number 5, as
+        %       below:
+        %       \lstinputlisting[firstline=5,lastline=5]{\LocSERpycode/servo-pot.py}
+        %       This value is mapped into a value between 0 and $180^\circ$ by
+        %       multiplying with $180/1023$ in line 6:
+        %       \lstinputlisting[firstline=6,lastline=6]{\LocSERpycode/servo-pot.py}
+        %       The {\tt floor} function gets the integer part of the number by
+        %       truncation.  This is the angle by which the potentiometer is to be
+        %       moved.  Truncation is a not a crucial calculation, however.  In
+        %       every iteration, the servomotor's position is calculated, and placed
+        %       for half a second.  This loop is iterated upon 5,000 times.
+\end{enumerate}
+
+\subsection{Python Code}
+\lstset{style=mystyle}
+\label{sec:servo-python-code}
+\addtocontents{pyd}{\protect\addvspace{\codclr}}
+
+\begin{pycode}
+  \pcaption{Rotating the servomotor to a specified degree} {Rotating
+    the servomotor to a specified degree.  Available at
+    \LocSERpybrief{servo-init.py}.}
+  \label{py:servo-init}
+  \lstinputlisting{\LocSERpycode/servo-init.py}
+\end{pycode}
+
+\begin{pycode}
+  \pcaption{Rotating the servomotor to a specified degree and
+    reversing} {Rotating
+    the servomotor to a specified degree and reversing.  Available at
+    \LocSERpybrief{servo-reverse.py}.}
+  \label{py:servo-reverse}
+  \lstinputlisting{\LocSERpycode/servo-reverse.py}
+\end{pycode}
+
+\begin{pycode}
+  \pcaption{Rotating the servomotor in steps of $20^\circ$}{Rotating
+    the servomotor in steps of $20^\circ$.  Available at 
+    \LocSERpybrief{servo-loop.py}.}
+  \label{py:servo-loop}
+  \lstinputlisting{\LocSERpycode/servo-loop.py}
+\end{pycode}
+
+\begin{pycode}
+  \pcaption{Rotating the servomotor to a degree specified by the
+    potentiometer} {Rotating the servomotor to a degree specified by
+    the potentiometer.  Available at \LocSERpybrief{servo-pot.py}.}
+  \label{py:servo-pot}
+  \lstinputlisting{\LocSERpycode/servo-pot.py}
+\end{pycode}
+
diff --git a/user-code/servo/servo-scilab.tex b/user-code/servo/servo-scilab.tex
new file mode 100644
index 0000000..7dc4191
--- /dev/null
+++ b/user-code/servo/servo-scilab.tex
@@ -0,0 +1,320 @@
+\section{Controlling the servomotor through Scilab}
+\subsection{Controlling the servomotor}
+\label{sec:servo-sci}
+In this section, we discuss how to carry out the experiments of the
+previous section from Scilab. We will list the same four experiments,
+in the same order.  The shield has to be attached to the \arduino\ board
+before doing these experiments 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. 
+
+% In this section, we will carry out the servomotor control experiments
+% using \scilab.  We will follow the same order as in
+% \secref{sec:servo-ard}.  We assume that the shield is attached to the
+% \arduino\ board while doing these experiments.  They will work without
+% the shield also, but in this case, our comments on colour LEDs
+% lighting will not be applicable.  The reader should go through the
+% instructions given in \secref{sec:sci-start} before getting started.
+\begin{enumerate}
+  \item The first experiment makes the servomotor move by $30^\circ$. The code for this experiment is
+        given in \sciref{sci:servo-init}. As explained earlier in \secref{sec:light-sci}, 
+        we begin with serial port initialization.
+        % It first opens com port 2 in \arduino\ card number 1 with baud rate
+        % of 115200.  If the port opening is unsuccessful {\tt ok} will not be
+        % 0 and the program terminates, asking the user to correct the
+        % problem.  Else If the port opening is successful, {\tt ok} will be 0
+        % and the program proceeds.  
+        Next, we attach the servomotor by issuing the command given below:
+        \lstinputlisting[firstline=3,lastline=3]{\LocSERscicode/servo-init.sce}
+        As shown above, the servomotor is attached on board 1 (the first argument)
+        to pin 1 (the second argument).  In the Scilab-Arduino toolbox discussed 
+        in \secref{sec:sci-ard-toolbox}, pin 1 and pin 5 are connected. As a result, we connect the wire physically to
+        pin 5, which is achieved by the shield as discussed in \secref{sec:servo-pril}.
+        
+        With this, we issue the command to move the servomotor by $30^\circ$ followed by a delay of 
+        1000 milliseconds:
+        \lstinputlisting[firstline=4,lastline=5]
+        {\LocSERscicode/servo-init.sce}
+        At last, we  detach the servomotor followed by closing the serial port. 
+        
+        Once this code is executed, the servomotor would move by
+        $30^\circ$, as commanded.  What happens if this code is executed
+        once again?  The motor will not move at all.  What is the reason?
+        Recall that what we assign to the motor are absolute positions, with
+        respect to a fixed origin.  As a result, there will be no change at
+        all. 
+        
+  \item In the second experiment, we move the servomotor by $90^\circ$ in the
+        forward direction and $45^\circ$ in the reverse direction.  This
+        code is given in \sciref{sci:servo-reverse}.  In this code, 
+        we have added a delay of 1000 milliseconds between the two instances of 
+        moving the servomotor: 
+        \lstinputlisting[firstline=4,lastline=6]
+        {\LocSERscicode/servo-reverse.sce}
+        What is the reason behind this delay?  If the delay were not
+        there, the motor will move only by the net angle of $90-45 = 45$
+        degrees.  The reader should verify this by commenting on the delay
+        command. 
+        
+        % In \sciref{sci:servo-reverse}, we make the servomotor rotate
+        % to $90^\circ$, wait for a second and go to $45^\circ$.  As mentioned
+        % earlier, the angles are absolute with respect to a fixed reference
+        % point and not relative.  
+        
+        
+  \item In the third experiment, we move the motor in increments of
+        $20^\circ$.  This is achieved by the {\tt for} loop, as in
+        \sciref{sci:servo-loop}. The code helps the motor move in steps of $20^\circ$ all
+        the way to $180^\circ$.  
+        
+  \item Finally, in the last experiment, we read the potentiometer value
+        from the shield and use it to drive the servomotor, see
+        \sciref{sci:servo-pot}.  The resistance of the potentiometer is
+        represented in 10 bits.  As a result, the resistance value could be
+        any one of 1024 values, from 0 to 1023.  This entire range is
+        mapped to $180^\circ$, as shown below:
+        \lstinputlisting[firstline=5,lastline=7]
+        {\LocSERscicode/servo-pot.sce}
+        By rotating the potentiometer, one can make
+        the motor move by different amounts.
+        
+        As mentioned in \chapref{potmeter}, the potentiometer on the shield is connected 
+        to analog pin 2 on \arduino. Through this pin, the resistance of the potentiometer, in the range of 0 to 1023,
+        depending on its position, is read.  Thus, by rotating the
+        potentiometer, we make different values appear on pin 2.  This value
+        is used to move the servo.  For example, if the resistance is half
+        of the total, the servomotor will go to $90^\circ$ and so on.  The
+        servomotor stops for 500 milliseconds after every move.  The loop is
+        executed for 50 iterations. During this period, the servomotor keeps moving as dictated by the
+        resistance of the potentiometer. While running this experiment, the readers 
+        must rotate the knob of the potentiometer by a fixed amount and observe 
+        the change in the position (or angle) of the servomotor.   
+        
+        
+        % \item In the next experiment, we rotate the servomotor in discrete
+        %       steps of $20^\circ$.  This is achieved by multiplying $20^\circ$ by
+        %       an integer {\tt i}, which varies from 0 to 10.  Once the maximum
+        %       angle reaches $180^\circ$, it stops.  
+        
+        % \item Finally, in the last experiment, we position the servomotor
+        %       through the potentiometer in the code \sciref{sci:servo-pot}.  As we
+        %       rotate the potentiometer, the servomotor's angle also changes.  The
+        %       potentiometer value is read through pin 2, in line number 5, as
+        %       below:
+        %       \lstinputlisting[firstline=5,lastline=5]{\LocSERscicode/servo-pot.sce}
+        %       This value is mapped into a value between 0 and $180^\circ$ by
+        %       multiplying with $180/1023$ in line 6:
+        %       \lstinputlisting[firstline=6,lastline=6]{\LocSERscicode/servo-pot.sce}
+        %       The {\tt floor} function gets the integer part of the number by
+        %       truncation.  This is the angle by which the potentiometer is to be
+        %       moved.  Truncation is a not a crucial calculation, however.  In
+        %       every iteration, the servomotor's position is calculated, and placed
+        %       for half a second.  This loop is iterated upon 5,000 times.
+\end{enumerate}
+
+\subsection{Scilab Code}
+\lstset{style=mystyle}
+\label{sec:servo-scilab-code}
+\addtocontents{cod}{\protect\addvspace{\codclr}}
+
+\begin{scicode}
+  \ccaption{Rotating the servomotor to a specified degree} {Rotating
+    the servomotor to a specified degree.  Available at
+    \LocSERscibrief{servo-init.sce}.}
+  \label{sci:servo-init}
+  \lstinputlisting{\LocSERscicode/servo-init.sce}
+\end{scicode}
+
+\begin{scicode}
+  \ccaption{Rotating the servomotor to a specified degree and
+    reversing} {Rotating
+    the servomotor to a specified degree and reversing.  Available at
+    \LocSERscibrief{servo-reverse.sce}.}
+  \label{sci:servo-reverse}
+  \lstinputlisting{\LocSERscicode/servo-reverse.sce}
+\end{scicode}
+
+\begin{scicode}
+  \ccaption{Rotating the servomotor in steps of $20^\circ$}{Rotating
+    the servomotor in steps of $20^\circ$.  Available at 
+    \LocSERscibrief{servo-loop.sce}.}
+  \label{sci:servo-loop}
+  \lstinputlisting{\LocSERscicode/servo-loop.sce}
+\end{scicode}
+
+\begin{scicode}
+  \ccaption{Rotating the servomotor to a degree specified by the
+    potentiometer} {Rotating the servomotor to a degree specified by
+    the potentiometer.  Available at \LocSERscibrief{servo-pot.sce}.}
+  \label{sci:servo-pot}
+  \lstinputlisting{\LocSERscicode/servo-pot.sce}
+\end{scicode}
+
+
+\section{Controling the servomotor through Xcos}
+\label{sec:servo-xcos}
+In this section, we will see how to rotate the servomotor from Scilab
+Xcos.  We will carry out experiments similar to the ones in earlier
+sections.  For each, 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.
+
+\begin{enumerate}
+  \item First we will rotate the servomotor by $30^\circ$.  When
+        the file required for this experiment is invoked, one gets the GUI
+        as in \figref{fig:servo-init}.  In the caption of this figure, one can
+        see where to locate the file.
+        \begin{figure}
+          \centering
+          \includegraphics[width=\smfig]{\LocSERfig/servo-init.png}
+          \caption[Rotating the servomotor by a fixed angle]{Rotating the
+            servomotor by a fixed angle.  This is what one sees when
+            \LocLEDscibrief{servo-init.zcos}, is invoked.}
+          \label{fig:servo-init}
+        \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:servo-init}.  All other parameters are to
+        be left unchanged.
+        \begin{table}
+          \centering
+          \caption{Parameters to rotate the servomotor by $30^\circ$}
+          \label{tab:servo-init}
+          \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
+            SERVO\_WRITE\_SB  & Servo number               & 1         \\
+                              & Arduino card number        & 1         \\ \hline
+            CONST\_m          & Constant value             & 30        \\ \hline
+          \end{tabular}
+        \end{table}
+        
+  \item Next, we will rotate the servomotor by $90^\circ$ and bring it
+        to $45^\circ$, all absolute values.  When the file required for this
+        experiment is invoked, one gets the GUI as in
+        \figref{fig:servo-reverse}.  In the caption of this figure, one can
+        see where to locate the file.
+        \begin{figure}
+          \centering
+          \includegraphics[width=\smfig]{\LocSERfig/servo-reverse.png}
+          \caption[Rotating the servomotor forward and then
+            reverse]{Rotating the servomotor forward and then reverse.  This
+            is what one sees when \LocLEDscibrief{servo-reverse.zcos},
+            is invoked.}
+          \label{fig:servo-reverse}
+        \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:servo-reverse}.  All other parameters
+        are to be left unchanged.
+        \begin{table}
+          \centering
+          \caption{Parameters to rotate the servomotor forward and reverse}
+          \label{tab:servo-reverse}
+          \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
+            SERVO\_WRITE\_SB  & Servo number               & 1         \\
+                              & Arduino card number        & 1         \\ \hline
+            STEP\_FUNCTION    & Step time                  & 1         \\ 
+                              & Initial value              & 90        \\
+                              & Final value                & 45        \\ \hline
+          \end{tabular}
+        \end{table}
+        
+  \item Next, we will rotate the servomotor in increments of
+        $20^\circ$.  When the file required for this
+        experiment is invoked, one gets the GUI as in
+        \figref{fig:servo-loop}.  In the caption of this figure, one can
+        see where to locate the file.
+        \begin{figure}
+          \centering
+          \includegraphics[width=\smfig]{\LocSERfig/servo-loop.png}
+          \caption[Rotating the servomotor in increments of $20^\circ$]
+          {Rotating the servomotor in increments of $20^\circ$.  This is what
+            one sees when \LocLEDscibrief{servo-loop.zcos}, is invoked.}
+          \label{fig:servo-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:servo-loop}.  {\tt Do on Overflow 0}
+        means that we need to do nothing when there is an overflow.
+        All other parameters are to be left unchanged.
+        \begin{table}
+          \centering
+          \caption{Parameters to make the servomotor to sweep the entire
+            range in increments}
+          \label{tab:servo-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
+            SERVO\_WRITE\_SB  & Servo number               & 1         \\ \hline
+            CLOCK\_c          & Period                     & 1         \\
+                              & Initialization time        & 0.1       \\ \hline
+            Counter           & Minimum value              & 0         \\
+                              & Maximum value              & 10        \\ 
+                              & Rule                       & 1         \\ \hline
+            GAINBLK           & Gain                       & 20        \\
+                              & Do on overflow             & 0         \\ \hline
+          \end{tabular}
+        \end{table}
+        
+  \item Finally, we will use Xcos to rotate the servomotor as per the
+        input received from the potentiometer.  When the file required for
+        this experiment is invoked, one gets the GUI as in
+        \figref{fig:servo-pot}.  In the caption of this figure, one can see
+        where to locate the file.
+        \begin{figure}
+          \centering
+          \includegraphics[width=\smfig]{\LocSERfig/servo-pot.png}
+          \caption[Rotating the servomotor as suggested by the
+            potentiometer]{Rotating the servomotor as suggested by the
+            potentiometer.  This is what
+            one sees when \LocLEDscibrief{servo-pot.zcos}, is invoked.}
+          \label{fig:servo-pot}
+        \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:servo-pot}.  All other parameters are to
+        be left unchanged.  The {\tt ANALOG\_READ\_SB} block reads the value
+        of potentiometer. Next, {\tt GAIN\_f} is used to convert the 
+        potentiometer values into rotation angle by multiplying the values 
+        with $180/1023$. 
+        \begin{table}
+          \centering
+          \caption{Parameters to rotate the servomotor based on the input
+            from the potentiometer}
+          \label{tab:servo-pot}
+          \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      & The duration of acquisition(s) & 100       \\
+                              & Sampling period(s)             & 0.1       \\ \hline
+            SERVO\_WRITE\_SB  & Servo number                   & 1         \\ \hline
+            ANALOG\_READ\_SB  & Analog Pin                     & 2         \\ 
+                              & Arduino card number            & 1         \\ \hline
+            GAIN\_f           & Gain                           & 180/1023  \\ \hline
+          \end{tabular}
+        \end{table}
+\end{enumerate}
+
+
diff --git a/user-code/thermistor/thermistor-OM.tex b/user-code/thermistor/thermistor-OM.tex
new file mode 100644
index 0000000..ec37547
--- /dev/null
+++ b/user-code/thermistor/thermistor-OM.tex
@@ -0,0 +1,94 @@
+\section{Interfacing the thermistor from OpenModelica}
+\subsection{Interfacing the thermistor}
+In this section, we discuss how to carry out the experiments of the
+previous section from OpenModelica.  We will list the same two experiments,
+in the same order.  The shield has to be attached to the \arduino\ board
+before doing these experiments 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.
+
+\begin{enumerate}
+  \item In the first experiment, we will read the thermistor values. The code for this experiment is given in
+        \OpenModelicaref{OpenModelica:therm-read}. 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. Then, we read the input coming from analog pin 4 using the
+        following command:
+        \lstinputlisting[firstline=16,lastline=16]
+        {\LocTHERMOpenModelicacode/therm-read.mo} Note that the one leg of the thermistor on
+        the shield is connected to analog pin 4 of \arduino\,
+        as given in \figref{fig:therm-conn}. The read value is displayed
+        by the following command:
+        \lstinputlisting[firstline=17,lastline=17]
+        {\LocTHERMOpenModelicacode/therm-read.mo} where {\tt val} contains
+        the thermistor values ranging from 0 to 1023.
+
+        While simulating this model,
+        the readers should try holding (or rubbing) the thermistor with their fingertips.
+        Doing so will transfer heat from the person holding the
+        thermistor, thereby raising the temperature of the thermistor.
+        Accordingly, they should observe the change in values being printed on on the output window of OMEdit, as shown in \figref{om-sim-success}.
+
+  \item This experiment is an extension of the previous experiment. Here,
+        we will turn a buzzer on using the thermistor values. This experiment
+        can be considered as a simple fire alarm circuit that
+        detects fires based on a sudden change in temperature and
+        activates the buzzer.
+
+        The program for this is available at
+        \OpenModelicaref{OpenModelica:therm-buzzer}.  As explained earlier,
+        the ADC maps the thermistor voltage readings in to values
+        ranging from 0 to 1023. This means 0 for 0 volts and 1023 for 5
+        volts. In this experiment we compare the ADC output value with a user-defined
+        threshold, which has been set as 550 in this experiment. One may note that
+        this threshold would vary according to the location and time of performing
+        this experiment. Accordingly, the readers are advised to change this threshold
+        in \OpenModelicaref{OpenModelica:therm-buzzer}. For testing purposes, one may note the
+        normal thermistor readings generated from the execution of \OpenModelicaref{OpenModelica:therm-read}
+        and set a threshold that is approximately 10 more than these readings.
+
+        In this experiment we compare the ADC output value with 550
+        and as soon as the value exceeds 550 the buzzer is turned on. The following lines of code perform this
+        comparison and sending a {HIGH} signal to digital pin 3 on \arduino:
+        \lstinputlisting[firstline=19,lastline=23]{\LocTHERMOpenModelicacode/therm-buzzer.mo}
+        A delay of 500 milliseconds is introduced
+        before the next value is read. While simulating this model,
+        the readers should try holding (or rubbing) the thermistor with their fingertips.
+        Doing so will transfer heat from the person holding the
+        thermistor, thereby raising the temperature of the thermistor.
+        Accordingly, they should observe whether the threshold of 550 is achieved
+        and the buzzer is enabled.
+
+        \paragraph{Note:} Once the thermistor value reaches 550 (the threshold), the value will remain the same
+        (unless it is cooled). Therefore, the buzzer will continuously produce the sound, which might be
+        a bit annoying. To get rid of this, the readers are advised to
+        execute some other code on \arduino\ like \OpenModelicaref{OpenModelica:therm-read}.
+
+\end{enumerate}
+
+\subsection{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.
+
+\label{sec:therm-OpenModelica-code}
+\addtocontents{OpenModelicad}{\protect\addvspace{\codclr}}
+
+\begin{OpenModelicacode}
+  \mcaption{Read and display the thermistor values} {Read and display
+    the thermistor values.  Available at
+    Arduino -> SerialCommunication ->
+    Examples -> push -> therm\_read.}
+  \label{OpenModelica:therm-read}
+  \lstinputlisting{\LocTHERMOpenModelicacode/therm-read.mo}
+\end{OpenModelicacode}
+
+\begin{OpenModelicacode}
+  \mcaption{Turning the buzzer on using thermistor values}
+  {Turning the buzzer on using the thermistor values read by
+    ADC.  Available at
+    Arduino -> SerialCommunication ->
+    Examples -> push -> therm\_buzzer.}
+  \label{OpenModelica:therm-buzzer}
+  \lstinputlisting{\LocTHERMOpenModelicacode/therm-buzzer.mo}
+\end{OpenModelicacode}
diff --git a/user-code/thermistor/thermistor-base.tex b/user-code/thermistor/thermistor-base.tex
new file mode 100644
index 0000000..2a6167e
--- /dev/null
+++ b/user-code/thermistor/thermistor-base.tex
@@ -0,0 +1,236 @@
+\chapter {Interfacing a Thermistor}
+\thispagestyle{empty}
+\label{thermistor}
+
+\newcommand{\LocTHERMfig}{\Origin/user-code/thermistor/figures}
+\newcommand{\LocTHERMscicode}{\Origin/user-code/thermistor/scilab}
+\newcommand{\LocTHERMscibrief}[1]{{\tt \seqsplit{%
+        Origin/user-code/thermistor/scilab/#1}}, see \fnrefp{fn:file-loc}}
+\newcommand{\LocTHERMardcode}{\Origin/user-code/thermistor/arduino}
+\newcommand{\LocTHERMardbrief}[1]{{\tt \seqsplit{%
+        Origin/user-code/thermistor/arduino/#1}}, see \fnrefp{fn:file-loc}}
+
+%%%%%%%%%%%python starts
+\newcommand{\LocTHERMpycode}{\Origin/user-code/thermistor/python}
+\newcommand{\LocTHERMpybrief}[1]{{\tt \seqsplit{%
+        Origin/user-code/thermistor/python/#1}}, see \fnrefp{fn:file-loc}}
+%%%%%%%%%%%python ends
+
+%%%%%%%%%julia
+\newcommand{\LocTHERMjuliacode}{\Origin/user-code/thermistor/julia}
+\newcommand{\LocTHERMjuliabrief}[1]{{\tt \seqsplit{%
+        Origin/user-code/thermistor/julia/#1}}, see \fnrefp{fn:file-loc}}
+%%%%%%julia
+
+%%%%%%%%%OpenModelica starts
+\newcommand{\LocTHERMOpenModelicacode}{\Origin/user-code/thermistor/OpenModelica}
+\newcommand{\LocTHERMOpenModelicabrief}[1]{{\tt \seqsplit{%
+        Origin/user-code/thermistor/OpenModelica/#1}}, see \fnrefp{fn:file-loc}}
+%%%%%%OpenModelica ends
+
+A thermistor, usually made of semiconductors or metallic oxides, is a
+temperature dependent/sensitive resistor. Depending on the temperature
+in the vicinity of the thermistor, its resistance changes. Thermistors
+are available in two types, NTC and PTC. NTC stands for Negative
+Temperature Coefficient and PTC for Positive Temperature
+Coefficient. In NTC thermistors, the resistance decreases with the
+increase in temperature and vice versa. Whereas, for PTC types, the
+resistance increases with an increase in temperature and vice
+versa. The temperature ranges, typically, from $-55^{\circ}$ Celsius
+to $+125^{\circ}$ Celsius.
+
+Thermistors are available in a variety of shapes such as beads, rods,
+flakes, and discs. Due to their compact size and low cost, they are
+widely used in the applications where even imprecise temperature
+sensing is sufficient. They, however, suffer from noise and hence need
+noise compensation. In this chapter we shall interface a thermistor
+with the \arduino\ board.
+
+\section{Preliminaries}
+A typical thermistor and its symbolic representation are shown in
+\ref{fig:therm} and \ref{fig:thermsym} respectively. The thermistor is
+available on the shield provided with the kit.  It is a bead type
+thermistor having a resistance of 10k at room temperature. A voltage
+divider network is formed using thermistor and another fixed 10k
+resistor. A voltage of 5 volts is applied across the series
+combination of the thermistor and the fixed 10k resistor. Voltage
+across the fixed resistor is sensed and is given to the ADC via pin
+4. Hence at room temperature, both the resistors offer 10k resistance
+resulting in dividing the 5V equally. A buzzer is also connected on
+pin 3 which is a digital output pin.
+Connections for this experiment are shown in \ref{fig:therm-conn}
+and \ref{fig:buzzer-conn}.  Nevertheless, the user doesn't need to
+connect any wire or component explicitly.
+
+
+\begin{figure}
+  \centering
+  \subfloat[Pictorial representation of a thermistor\cite{therm-wiki}]{
+    \includegraphics[width=\smfig]{\LocTHERMfig/NTC-bead.jpg}
+    \label{fig:therm}} \hfill
+  \subfloat[Symbolic representation of a thermistor]{
+    \includegraphics[width=\tnfig]{\LocTHERMfig/therm-sym.png}
+    \label{fig:thermsym}}
+  \caption{Pictorial and symbolic representation of a thermistor}
+\end{figure}
+
+
+\begin{figure}
+  \centering
+  \subfloat[Thermistor connection diagram]{
+    \includegraphics[width=\smfig]
+    {\LocTHERMfig/THERMISTOR-Diagram-crop.pdf}
+    \label{fig:therm-conn}} \hfill
+  \subfloat[Buzzer connection diagram]{
+    \includegraphics[width=\smfig]
+    {\LocTHERMfig/BUZZER-Diagram-crop.pdf}
+    \label{fig:buzzer-conn}}
+  \caption{Internal connection diagrams for thermistor and buzzer on the shield}
+\end{figure}
+
+\section{Connecting a thermistor with \arduino\ using a breadboard}
+This section is useful for those who either don't have a shield or don't want to use the shield
+for performing the experiments given in this chapter.
+
+A breadboard is a device for holding the components of a circuit and connecting
+them together. We can build an electronic circuit on a breadboard without doing any
+soldering. To know more about the breadboard and other electronic components,
+one should watch the Spoken Tutorials on Arduino as published on
+  {\tt https://spoken-tutorial.org/}. Ideally, one should go through all the
+tutorials labeled as Basic. However, we strongly recommend the readers should
+watch the fifth and sixth tutorials, i.e., {\tt First Arduino Program} and
+  {\tt Arduino with Tricolor LED and Push button}.
+
+In case you have a thermistor, and you want to connect it with \arduino\ on a breadboard,
+please refer to \figref{fig:ard-therm-bread}. The connections given in this figure
+can be used to read values from the thermistor connected to analog pin 4 on \arduino\
+board.
+\begin{figure}
+  \centering
+  \includegraphics[width=\textwidth]{\LocTHERMfig/thermistor.png}
+  \caption{A thermistor to read its values with Arduino Uno using a breadboard}
+  %\redcolor{connected on pin no. D12}}
+  \label{fig:ard-therm-bread}
+\end{figure}
+As shown in \figref{fig:ard-therm-bread}, one leg of the thermistor is connected
+to 5V on \arduino\ and the other leg to the analog pin 4 on  \arduino. A resistor is also
+connected to the same leg and grounded. From \figref{fig:therm-conn} and \figref{fig:ard-therm-bread}, one can infer that a resistor
+along with the thermistor is used to create a voltage divider circuit. The varying
+resistance of the thermistor is converted to a varying voltage. Finally, this voltage is used
+by the analog pin 4 of \arduino\ in its logic.
+
+\begin{figure}
+  \centering
+  \includegraphics[width=\textwidth]{\LocTHERMfig/thermistor-buzzer.png}
+  \caption{A thermistor to control a buzzer with Arduino Uno using a breadboard}
+  %\redcolor{connected on pin no. D12}}
+  \label{fig:ard-therm-buzzer}
+\end{figure}
+The connections shown in \figref{fig:ard-therm-buzzer} can be used to control a buzzer,
+depending on the values from the thermistor. As shown in \figref{fig:ard-therm-buzzer},
+digital pin 3 on \arduino\ is connected to the one of the legs of the buzzer. Another
+leg of the buzzer is connected to GND of \arduino.
+
+
+\section{Interfacing the thermistor from the Arduino IDE}
+\subsection{Interfacing the thermistor}
+In this section we will learn how to read values from the thermistor
+connected at pin 4 of the \arduino\ board. We shall also see how to
+drive a buzzer depending upon the thermistor values. The shield has to be attached to the \arduino\ board
+before doing these experiments 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.
+
+\begin{enumerate}
+  \item A simple code to read the values from thermistor is given in
+        \ardref{ard:therm-read}. The Arduino IDE based command for the analog read functionality is given by.
+        \lstinputlisting[firstline=9,lastline=9]{\LocTHERMardcode/therm-read/therm-read.ino}
+        where {\tt A4} represents the analog pin 4 to be read.
+        The read value is stored in variable {\tt val} and is
+        displayed using \lstinputlisting[firstline=10,lastline=10]{\LocTHERMardcode/therm-read/therm-read.ino}
+        The command on next line
+
+        \lstinputlisting[firstline=11,lastline=11]  {\LocTHERMardcode/therm-read/therm-read.ino}
+        is used to put a delay of 500 milliseconds. This is to avoid very fast display of the read values. The entire reading and display operation is carried out 40 times.
+
+        The values can be observed over the {\tt Serial Monitor} of Arduino IDE.
+        The numbers displayed range from 0 to 1023. At room temperature you may get the
+        output of ADC around 500. If a heating or cooling source is available,
+        one can observe the increase or decrease in the ADC output. Although
+        the thermistor is of NTC type, the ADC output increases with increase
+        in temperature. This is because the voltage across the fixed resistor
+        is sensed.
+
+        While running this experiment,
+        the readers should try holding (or rubbing) the thermistor with their fingertips.
+        Doing so will transfer heat from the person holding the
+        thermistor, thereby raising the temperature of the thermistor. Accordingly, they should observe the change in the thermistor values
+        on the {\tt Serial Monitor}.
+
+  \item In this experiment, we will turn the buzzer on depending
+        on the temperature sensed by the thermistor. This experiment
+        can be considered as a simple fire alarm circuit that
+        detects fires based on a sudden change in temperature and
+        activates the buzzer.
+
+        The program for this is
+        available at \ardref{ard:therm-buzzer}. We shall use the ADC output
+        to carry this out. The buzzer is connected to pin 3, which is a
+        digital output pin. The ADC output value is displayed on the serial
+        monitor. At the same time, it is compared with a user-defined
+        threshold, which has been set as 550 in this experiment. One may note that
+        this threshold would vary according to the location and time of performing
+        this experiment. Accordingly, the readers are advised to change this threshold
+        in \ardref{ard:therm-buzzer}. For testing purposes, one may note the
+        normal thermistor readings generated from the execution of \ardref{ard:therm-read}
+        and set a threshold that is approximately 10 more than these readings.
+
+        In this experiment, as soon as the ADC output exceeds 550, the buzzer is given a digital
+        high signal, turning it on. The following lines of code perform this
+        comparison and sending a {HIGH} signal to digital pin 3 on \arduino:
+        \lstinputlisting[firstline=14,lastline=21]{\LocTHERMardcode/therm-buzzer/therm-buzzer.ino}
+        A delay of half a second is introduced
+        before the next value is read. While running this experiment,
+        the readers should try holding (or rubbing) the thermistor with their fingertips.
+        Doing so will transfer heat from the person holding the
+        thermistor, thereby raising the temperature of the thermistor.
+        Accordingly, they should observe whether the threshold of 550 is achieved
+        and the buzzer is enabled.
+
+        \paragraph{Note:} Once the thermistor value reaches 550 (the threshold), the value will remain the same
+        (unless it is cooled). Therefore, the buzzer will continuously produce the sound, which might be
+        a bit annoying. To get rid of this, the readers are advised to
+        execute some other code on \arduino\ like \ardref{ard:therm-read}.
+
+\end{enumerate}
+
+\begin{exercise}
+  Carry out the following exercise:
+  \begin{enumerate}
+    \item Put the thermistor in the vicinity of an Ice bowl. Take care not
+          to wet the shield while doing so. Note down the ADC output value for
+          0$^{\circ}$Celsius.
+  \end{enumerate}
+\end{exercise}
+
+\subsection{Arduino Code}
+\label{sec:therm-arduino-code}
+\addtocontents{ard}{\protect\addvspace{\codclr}}
+
+\begin{ardcode}
+  \acaption{Read and display the thermistor values} {Read and display
+    the thermistor values.  Available at
+    \LocTHERMardbrief{therm-read/therm-read.ino}.}
+  \label{ard:therm-read}
+  \lstinputlisting{\LocTHERMardcode/therm-read/therm-read.ino}
+\end{ardcode}
+
+\begin{ardcode}
+  \acaption{Turning the buzzer on using thermistor values}
+  {Turning the buzzer on using the thermistor values read by
+    ADC.  Available at
+    \LocTHERMardbrief{therm-buzzer/therm-buzzer.ino}.}
+  \label{ard:therm-buzzer}
+  \lstinputlisting{\LocTHERMardcode/therm-buzzer/therm-buzzer.ino}
+\end{ardcode}
+
diff --git a/user-code/thermistor/thermistor-julia.tex b/user-code/thermistor/thermistor-julia.tex
new file mode 100644
index 0000000..d108ad1
--- /dev/null
+++ b/user-code/thermistor/thermistor-julia.tex
@@ -0,0 +1,94 @@
+\section{Interfacing the thermistor from Julia}
+\subsection{Interfacing the thermistor}
+In this section, we discuss how to carry out the experiments of the
+previous section from Julia.  We will list the same two experiments,
+in the same order.  The shield has to be attached to the \arduino\ board
+before doing these experiments 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.
+
+
+\begin{enumerate}
+  \item In the first experiment, we will read the thermistor values.
+        The code for this experiment is given in
+        \juliaref{julia:therm-read}. As explained earlier in \secref{sec:light-julia}, we begin with importing the SerialPorts
+        \cite{julia-serial-ports} package and the module ArduinoTools followed by setting up the serial port.
+        Then, we read the input coming from analog pin 4 using the
+        following command:
+        \lstinputlisting[firstline=7,lastline=7]
+        {\LocTHERMjuliacode/therm-read.jl} Note that the one leg of the thermistor on
+        the shield is connected to analog pin 4 of \arduino\,
+        as given in \figref{fig:therm-conn}. The read value is displayed
+        by the following command:
+        \lstinputlisting[firstline=8,lastline=8]
+        {\LocTHERMjuliacode/therm-read.jl} where {\tt val} contains
+        the thermistor values ranging from 0 to 1023. To
+        encourage the user to have a good hands-on, we run these commands in
+        a {\tt for} loop for 20 iterations.
+
+        While running this experiment,
+        the readers should try holding (or rubbing) the thermistor with their fingertips.
+        Doing so will transfer heat from the person holding the
+        thermistor, thereby raising the temperature of the thermistor.
+        Accordingly, they should observe the change in values being printed on on the
+        Command Prompt (on Windows) or Terminal (on Linux), as the case maybe.
+
+  \item This experiment is an extension of the previous
+        experiment. Here, we will use a Julia source file to
+        turn a buzzer on using the thermistor values. This experiment
+        can be considered as a simple fire alarm circuit that
+        detects fires based on a sudden change in temperature and
+        activates the buzzer.
+
+        The program for this is available at
+        \juliaref{julia:therm-buzzer}.  As explained earlier,
+        the ADC maps the thermistor voltage readings in to values
+        ranging from 0 to 1023. This means 0 for 0 volts and 1023 for 5
+        volts. In this experiment we compare the ADC output value with a user-defined
+        threshold, which has been set as 550 in this experiment. One may note that
+        this threshold would vary according to the location and time of performing
+        this experiment. Accordingly, the readers are advised to change this threshold
+        in \juliaref{julia:therm-buzzer}. For testing purposes, one may note the
+        normal thermistor readings generated from the execution of \juliaref{julia:therm-read}
+        and set a threshold that is approximately 10 more than these readings.
+
+
+        In this experiment we compare the ADC output value with 550
+        and as soon as the value exceeds 550 the buzzer is turned on. The following lines of code perform this
+        comparison and sending a {HIGH} signal to digital pin 3 on \arduino:
+        \lstinputlisting[firstline=9,lastline=13]{\LocTHERMjuliacode/therm-buzzer.jl}
+        A delay of half a second is introduced
+        before the next value is read. While running this experiment,
+        the readers should try holding (or rubbing) the thermistor with their fingertips.
+        Doing so will transfer heat from the person holding the
+        thermistor, thereby raising the temperature of the thermistor.
+        Accordingly, they should observe whether the threshold of 550 is achieved
+        and the buzzer is enabled.
+
+        \paragraph{Note:} Once the thermistor value reaches 550 (the threshold), the value will remain the same
+        (unless it is cooled). Therefore, the buzzer will continuously produce the sound, which might be
+        a bit annoying. To get rid of this, the readers are advised to
+        execute some other code on \arduino\ like \juliaref{julia:therm-read}.
+
+\end{enumerate}
+
+\subsection{Julia Code}
+\label{sec:therm-julia-code}
+\addtocontents{juliad}{\protect\addvspace{\codclr}}
+
+\begin{juliacode}
+  \jcaption{Read and display the thermistor values} {Read and display
+    the thermistor values. Available at
+    \LocTHERMjuliabrief{therm-read.jl}.}
+  \label{julia:therm-read}
+  \lstinputlisting{\LocTHERMjuliacode/therm-read.jl}
+\end{juliacode}
+
+\begin{juliacode}
+  \jcaption{Turning the buzzer on using thermistor values}
+  {Turning the buzzer on using the thermistor values read by
+    ADC.  Available at \LocTHERMjuliabrief{therm-buzzer.jl}.}
+  \label{julia:therm-buzzer}
+  \lstinputlisting{\LocTHERMjuliacode/therm-buzzer.jl}
+\end{juliacode}
+
diff --git a/user-code/thermistor/thermistor-python.tex b/user-code/thermistor/thermistor-python.tex
new file mode 100644
index 0000000..19efe40
--- /dev/null
+++ b/user-code/thermistor/thermistor-python.tex
@@ -0,0 +1,117 @@
+\section{Interfacing the thermistor from Python}
+\subsection{Interfacing the thermistor}
+In this section, we discuss how to carry out the experiments of the
+previous section from Python.  We will list the same two experiments,
+in the same order.  The shield has to be attached to the \arduino\ board
+before doing these experiments 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.
+
+\begin{enumerate}
+  \item In the first experiment, we will read the thermistor values.
+        The code for this experiment is given in \pyref{py:therm-read}.
+        As explained earlier in \secref{sec:light-py}, we begin with
+        importing necessary modules followed by setting up the serial port.
+        Then, we read the input coming from analog pin 4 using the
+        following command:
+        \lstinputlisting[firstline=26,lastline=26]
+        {\LocTHERMpycode/therm-read.py} Note that the one leg of the thermistor on
+        the shield is connected to analog pin 4 of \arduino\,
+        as given in \figref{fig:therm-conn}. The read value is displayed
+        by the following command:
+        \lstinputlisting[firstline=27,lastline=27]
+        {\LocTHERMpycode/therm-read.py} where {\tt val} contains
+        the thermistor values ranging from 0 to 1023. To
+        encourage the user to have a good hands-on, we run these commands in
+        a {\tt for} loop for 20 iterations.
+
+        While running this experiment,
+        the readers should try holding (or rubbing) the thermistor with their fingertips.
+        Doing so will transfer heat from the person holding the
+        thermistor, thereby raising the temperature of the thermistor.
+        Accordingly, they should observe the change in values being printed on on the
+        Command Prompt (on Windows) or Terminal (on Linux), as the case maybe.
+
+        % In the first experiment, \pyref{py:therm-read} is used to read
+        % values from thermistor. First the serial port is opened using the
+        % command {\tt open\_serial} and passing the correct port number to
+        % it. The command {\tt cmd\_analog\_in} is used to read from the
+        % analog pin. The pin number is passed to this command as an
+        % argument. The read value is stored in some variable. The value is
+        % then displayed on the scilab console. A sleep of 500 millisecond is
+        % executed using the {\tt sleep} command and then the reading process
+        % is repeated 20 times by putting it in a {\tt for} loop. After the
+        % loop is finished the serial port is closed using the {\tt
+        %     close\_serial} command.
+
+  \item This experiment is an extension of the previous
+        experiment. Here, we will use a Python script to
+        turn a buzzer on using the thermistor values. This experiment
+        can be considered as a simple fire alarm circuit that
+        detects fires based on a sudden change in temperature and
+        activates the buzzer.
+
+        The program for this is available at
+        \pyref{py:therm-buzzer}.  As explained earlier,
+        the ADC maps the thermistor voltage readings in to values
+        ranging from 0 to 1023. This means 0 for 0 volts and 1023 for 5
+        volts. In this experiment we compare the ADC output value with a user-defined
+        threshold, which has been set as 550 in this experiment. One may note that
+        this threshold would vary according to the location and time of performing
+        this experiment. Accordingly, the readers are advised to change this threshold
+        in \pyref{py:therm-buzzer}. For testing purposes, one may note the
+        normal thermistor readings generated from the execution of \pyref{sci:therm-read}
+        and set a threshold that is approximately 10 more than these readings.
+
+        In this experiment we compare the ADC output value with 550
+        and as soon as the value exceeds 550 the buzzer is turned on. The following lines of code perform this
+        comparison and sending a {HIGH} signal to digital pin 3 on \arduino:
+        \lstinputlisting[firstline=30,lastline=34]{\LocTHERMpycode/therm-buzzer.py}
+        A delay of half a second is introduced
+        before the next value is read. While running this experiment,
+        the readers should try holding (or rubbing) the thermistor with their fingertips.
+        Doing so will transfer heat from the person holding the
+        thermistor, thereby raising the temperature of the thermistor.
+        Accordingly, they should observe whether the threshold of 550 is achieved
+        and the buzzer is enabled.
+
+        \paragraph{Note:} Once the thermistor value reaches 550 (the threshold), the value will remain the same
+        (unless it is cooled). Therefore, the buzzer will continuously produce the sound, which might be
+        a bit annoying. To get rid of this, the readers are advised to
+        execute some other code on \arduino\ like \pyref{py:therm-read}.
+
+        % In the second experiment, we will use the python script to
+        %       turn a buzzer on and off using the thermistor values. The changes in
+        %       the thermistor resistance is sensed as a voltage change between 0 to
+        %       5V. The ADC maps the thermistor voltage readings in to values
+        %       ranging from 0 to 1023. This means 0 for 0 volts and 1023 for 5
+        %       volts. In this experiment we compare the ADC output value with 550
+        %       and as soon as the value exceeds 550 the buzzer is turned on. See
+        %       \sciref{py:therm-buzzer} for the complete code. We use {\tt if}
+        %       loop to achieve this functionality. Command {\tt cmd\_digital\_out}
+        %       is used to turn the buzzer on and off.  The correct port number on
+        %       which the buzzer is connected is passed to this command as an
+        %       argument. The entire process is repeated 500 times.
+\end{enumerate}
+
+\subsection{Python Code}
+\label{sec:therm-pyhton-code}
+\addtocontents{pyd}{\protect\addvspace{\codclr}}
+
+\begin{pycode}
+  \pcaption{Read and display the thermistor values} {Read and display
+    the thermistor values.  Available at
+    \LocTHERMpybrief{therm-read.py}.}
+  \label{py:therm-read}
+  \lstinputlisting{\LocTHERMpycode/therm-read.py}
+\end{pycode}
+
+\begin{pycode}
+  \pcaption{Turning the buzzer on using thermistor values}
+  {Turning the buzzer on using the thermistor values read by
+    ADC.  Available at \LocTHERMpybrief{therm-buzzer.py}.}
+  \label{py:therm-buzzer}
+  \lstinputlisting{\LocTHERMpycode/therm-buzzer.py}
+\end{pycode}
+
diff --git a/user-code/thermistor/thermistor-scilab.tex b/user-code/thermistor/thermistor-scilab.tex
new file mode 100644
index 0000000..e6e729b
--- /dev/null
+++ b/user-code/thermistor/thermistor-scilab.tex
@@ -0,0 +1,291 @@
+\section{Interfacing the thermistor from \scilab}
+\subsection{Interfacing the thermistor}
+In this section we will explain a \scilab\ script to read the thermistor
+values. Based on the acquired values, we will change
+the state of the buzzer.  The shield has to be attached to the \arduino\ board
+before doing these experiments 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.
+
+% The {\tt cmd\_analog\_in} command
+% will be used to read from thermistor connected to an analog input
+% pin. The experiments will be carried out using \scilab.
+
+\begin{enumerate}
+  \item In the first experiment, we will read the thermistor values and display it in
+        \scilab\ Console. The code for this experiment is
+        given in \sciref{sci:therm-read}. As explained earlier in \secref{sec:light-sci},
+        we begin with serial port initialization. Then, we read the input coming from
+        analog pin 4 using the following command:
+        \lstinputlisting[firstline=4,lastline=4]
+        {\LocTHERMscicode/therm-read.sce}
+        Note that the one leg of the thermistor on
+        the shield is connected to analog pin 4 of \arduino\,
+        as given in \figref{fig:therm-conn}. The read value is stored in variable {\tt val} and
+        displayed in the \scilab\ Console by the following command:
+        \lstinputlisting[firstline=5,lastline=5]
+        {\LocTHERMscicode/therm-read.sce} where {\tt val} contains
+        the thermistor values ranging from 0 to 1023. The changes in
+        the thermistor resistance is sensed as a voltage change between 0 to
+        5V. The ADC maps the thermistor voltage readings in to values
+        ranging from 0 to 1023. This means 0 for 0 volts and 1023 for 5
+        volts. At room temperature you may get the
+        output of ADC around 500. If a heating or cooling source is available,
+        one can observe the increase or decrease in the ADC output. To
+        encourage the user to have a good hands-on, we run these commands in
+        a {\tt for} loop for 20 iterations.
+
+        While running this experiment,
+        the readers should try holding (or rubbing) the thermistor with their fingertips.
+        Doing so will transfer heat from the person holding the
+        thermistor, thereby raising the temperature of the thermistor. Accordingly, they should observe the change in the thermistor
+        values on \scilab\ Console.
+
+
+        % In the first experiment, \sciref{sci:therm-read} is used to read
+        %   values from thermistor. First the serial port is opened using the
+        %   command {\tt open\_serial} and passing the correct port number to
+        %   it. The command {\tt cmd\_analog\_in} is used to read from the
+        %   analog pin. The pin number is passed to this command as an
+        %   argument. The read value is stored in some variable. The value is
+        %   then displayed on the scilab console. A sleep of 500 millisecond is
+        %   executed using the {\tt sleep} command and then the reading process
+        %   is repeated 20 times by putting it in a {\tt for} loop. After the
+        %   loop is finished the serial port is closed using the {\tt
+        %     close\_serial} command.
+
+  \item This experiment is an extension of the previous
+        experiment. Here, we will use a \scilab\ script to
+        turn a buzzer on using the thermistor values. This experiment
+        can be considered as a simple fire alarm circuit that
+        detects fires based on a sudden change in temperature and
+        activates the buzzer.
+
+        The program for this is available at
+        \sciref{sci:therm-buzzer}.  As explained earlier,
+        the ADC maps the thermistor voltage readings in to values
+        ranging from 0 to 1023. This means 0 for 0 volts and 1023 for 5
+        volts. In this experiment we compare the ADC output value with a user-defined
+        threshold, which has been set as 550 in this experiment. One may note that
+        this threshold would vary according to the location and time of performing
+        this experiment. Accordingly, the readers are advised to change this threshold
+        in \sciref{sci:therm-buzzer}. For testing purposes, one may note the
+        normal thermistor readings generated from the execution of \sciref{sci:therm-read}
+        and set a threshold that is approximately 10 more than these readings.
+
+        In this experiment, as soon as the value exceeds 550, the buzzer is turned on. The following lines of code perform this
+        comparison and sending a {HIGH} signal to digital pin 3 on \arduino:
+        \lstinputlisting[firstline=6,lastline=10]{\LocTHERMscicode/therm-buzzer.sce}
+        A delay of half a second is introduced
+        before the next value is read. While running this experiment,
+        the readers should try holding (or rubbing) the thermistor with their fingertips.
+        Doing so will transfer heat from the person holding the
+        thermistor, thereby raising the temperature of the thermistor.
+        Accordingly, they should observe whether the threshold of 550 is achieved
+        and the buzzer is enabled.
+
+        \paragraph{Note:} Once the thermistor value reaches 550 (the threshold), the value will remain the same
+        (unless it is cooled). Therefore, the buzzer will continuously produce the sound, which might be
+        a bit annoying. To get rid of this, the readers are advised to
+        execute some other code on \arduino\ like \sciref{sci:therm-read}.
+\end{enumerate}
+
+
+\begin{exercise}
+  Carry out the exercise below: Convert the ADC output readings to
+  degree Celsius. There are two ways to do so.
+  \begin{enumerate}
+    \item  In the first method,
+          \begin{align}
+            \frac{1}{T}=A+B*\ln(R)+C*(\ln(R))^3
+            \label{therm-abc}
+          \end{align}
+          equation \ref{therm-abc} can be used if the value of A, B, C and R are
+          known. The temperature T is in kelvin and thermistor resistance R is
+          in ohms. The values of A, B and C can be found out by measuring
+          thermistor resistance against three known values of temperatures. The
+          values of temperature must be within the operating range and should
+          typically include the room temperature. Once a set of three values of
+          T and R are known it will result in three equations with three
+          unknowns. The values of A, B, C can be found out by solving the three
+          equations simultaneously. Once the values of A, B, C are known, the
+          same equation can be used to directly convert resistance to kelvin. It
+          can be then converted to Celsius. This method is preferred when the
+          temperature coefficient of thermistor is not known or is known very
+          approximately. This method is bit cumbersome but can give accurate
+          temperature conversion.
+
+    \item In the second method,
+          \begin{align}
+            \frac{1}{T}=\frac{1}{T_0}+\frac{1}{\beta}*\ln\left(\frac{R}{R_0}\right)
+            \label{therm-beta}
+          \end{align}
+          equation \ref{therm-beta} can be used if the value of $\beta$ i.e. the
+          Temperature Coefficient of Resistance of the thermistor used is
+          known. The value of $\beta$ can be found in the data sheet of the
+          thermistor used. $R$ is the resistance of thermistor at temperature
+          $T$ in kelvin.  $R_0$ is the resistance of thermistor at room
+          temperature $T_0$ in kelvin.
+  \end{enumerate}
+\end{exercise}
+
+\subsection{Scilab Code}
+\label{sec:therm-scilab-code}
+\addtocontents{cod}{\protect\addvspace{\codclr}}
+
+\begin{scicode}
+  \ccaption{Read and display the thermistor values} {Read and display
+    the thermistor values.  Available at
+    \LocTHERMscibrief{therm-read.sce}.}
+  \label{sci:therm-read}
+  \lstinputlisting{\LocTHERMscicode/therm-read.sce}
+\end{scicode}
+
+\begin{scicode}
+  \ccaption{Turning the buzzer on using thermistor values}
+  {Turning the buzzer on using the thermistor values read by
+    ADC.  Available at \LocTHERMscibrief{therm-buzzer.sce}.}
+  \label{sci:therm-buzzer}
+  \lstinputlisting{\LocTHERMscicode/therm-buzzer.sce}
+\end{scicode}
+
+\section{Interfacing the thermistor from Xcos}
+In this section, we discuss how to read and use the thermistor values using
+Xcos blocks. The reader should go
+through the instructions given in \secref{sec:xcos-start} before
+getting started.
+
+\begin{enumerate}
+  \item First we will read the thermistor values and display it.  When the
+        file required for this experiment is invoked, one gets the GUI as in
+        \figref{fig:therm-read}.  In the caption of this figure, one
+        can see where to locate the file.
+
+        As discussed in earlier chapters, we start with the initialization
+        of the serial port. Next, using {\tt Analog Read} block, we read
+        the values of thermistor connected on analog pin 4.
+        Next, we use a scope to plot the values
+        coming from this pin. When this Xcos file is simulated,
+        a plot is opened, as shown in \figref{fig:therm-read-output}.
+
+        \begin{figure}
+          \centering
+          \includegraphics[width=\smfigp]{\LocTHERMfig/therm-read-xcos.png}
+          \caption[Xcos diagram to read thermistor values]{Xcos diagram to
+            read thermistor values.  This is what one sees when
+            \LocTHERMscibrief{therm-read.zcos}, is invoked.}
+          \label{fig:therm-read}
+        \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:therm-read}.  All other parameters are to
+        be left unchanged.
+        \begin{table}
+          \centering
+          \caption{Xcos parameters to read thermistor}
+          \label{tab:therm-read}
+          \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) & 100       \\
+                              & Sampling period(s)         & 0.1       \\ \hline
+            ANALOG\_READ\_SB  & Analog Pin                 & 4         \\
+                              & Arduino card number        & 1         \\ \hline
+            CSCOPE            & Ymin                       & 200       \\
+                              & Ymax                       & 600       \\
+                              & Refresh period             & 100       \\ \hline
+            CLOCK\_c          & Period                     & 0.1       \\
+                              & Initialisation Time        & 0         \\ \hline
+          \end{tabular}
+        \end{table}
+        \begin{figure}
+          \centering
+          \includegraphics[width=\smfigp]{\LocTHERMfig/therm-read.png}
+          \caption{Plot window in Xcos to read thermistor values}
+          \label{fig:therm-read-output}
+        \end{figure}
+
+        While running this experiment,
+        the readers should try holding (or rubbing) the thermistor with their fingertips.
+        Doing so will transfer heat from the person holding the
+        thermistor, thereby raising the temperature of the thermistor. Accordingly, they should observe the change in the thermistor
+        values in the output plot, as shown in \figref{fig:therm-read-output}.
+
+  \item In the second experiment, we will switch on a buzzer
+        depending on the thermistor readings (ADC output).
+        When the file required for this
+        experiment is invoked, one gets the GUI as in \figref{fig:therm-buzzer}.
+        In the caption of this figure, one can see where to locate the file.
+
+        \begin{figure}
+          \centering
+          \includegraphics[width=\lgfig]{\LocTHERMfig/therm-buzzer-xcos.png}
+          \caption[Xcos diagram to read the value of thermistor, which is
+            used to turn the buzzer on] {Xcos diagram to read the value
+            of the thermistor, which is used to turn the buzzer on.
+            This is what one sees when
+            \LocTHERMscibrief{therm-buzzer.zcos}, is invoked.}
+          \label{fig:therm-buzzer}
+        \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:therm-buzzer}.  In the CSCOPE\_c block, the
+        two values correspond to two graphs, one for digital write and other
+        for analog read values. All other parameters are to be left
+        unchanged. When this Xcos file is simulated, a plot is opened,
+        as shown in \figref{fig:therm-buzzer-output}.
+
+        \begin{table}
+          \centering
+          \caption{Xcos parameters to read thermistor and switch the buzzer}
+          \label{tab:therm-buzzer}
+          \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) & 100       \\
+                               & Sampling period(s)         & 0.1       \\ \hline
+            ANALOG\_READ\_SB   & Analog pin                 & 4         \\
+                               & Arduino card number        & 1         \\ \hline
+            CMSCOPE            & Ymin                       & 0 300     \\
+                               & Ymax                       & 1 600     \\
+                               & Refresh period             & 100 100   \\ \hline
+            CLOCK\_c           & Period                     & 0.1       \\
+                               & Initialisation time        & 0         \\ \hline
+            SWITCH2\_m         & Datatype                   & 1         \\
+                               & threshold                  & 550       \\
+                               & pass first input if field  & 0         \\
+                               & use zero crossing          & 1         \\ \hline
+            DIGITAL\_WRITE\_SB & Digital pin                & 3         \\
+                               & Arduino card number        & 1         \\ \hline
+          \end{tabular}
+        \end{table}
+
+        \begin{figure}
+          \centering
+          \includegraphics[width=\lgfig]{\LocTHERMfig/therm-buzzer.png}
+          \caption{Plot window in Xcos to read thermistor values and the state of LED}
+          \label{fig:therm-buzzer-output}
+        \end{figure}
+
+        While running this experiment,
+        the readers should try holding (or rubbing) the thermistor with their fingertips.
+        Doing so will transfer heat from the person holding the
+        thermistor, thereby raising the temperature of the thermistor.
+        Accordingly, they should observe whether the threshold of 550 is achieved
+        and the buzzer is enabled.
+
+        \paragraph{Note:} Once the thermistor value reaches 550 (the threshold), the value will remain the same
+        (unless it is cooled). Therefore, the buzzer will continuously produce the sound, which might be
+        a bit annoying. To get rid of this, the readers are advised to
+        execute some other code on \arduino\ like the Xcos file shown in
+        \figref{fig:therm-read}.
+\end{enumerate}
+
+