Add NM comments

14 files changed, 210 insertions, 186 deletions

diff --git a/floss-arduino.OpenModelicad b/floss-arduino.OpenModelicad
index 6df7eb1..b8a8c48 100644
--- a/floss-arduino.OpenModelicad
+++ b/floss-arduino.OpenModelicad
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 \contentsline {section}{\numberline {11.{1}}Code for Single Phase Current Output}{242}%
diff --git a/floss-arduino.ard b/floss-arduino.ard
index b03b254..b2e6690 100644
--- a/floss-arduino.ard
+++ b/floss-arduino.ard
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 \contentsline {section}{\numberline {11.{1}}First 10 lines of the firmware for Modbus Energy Meter experiment}{237}%
diff --git a/floss-arduino.aux b/floss-arduino.aux
index 43f3e98..bbd3b2e 100644
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 \@writefile{lol}{\contentsline {lstlisting}{/home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/OpenModelica/dcmotor\textendash clock.mo}{222}\protected@file@percent }
-\@writefile{thm}{\contentsline {OpenModelicamass}{{OpenModelica Code}{10.{2}}{}}{222}\protected@file@percent }
-\@writefile{OpenModelicad}{\contentsline {section}{\numberline {10.{2}}Rotating the DC motor in both directions}{222}\protected@file@percent }
-\newlabel{OpenModelica:dcmotor-both}{{10.{2}}{222}}
-\@writefile{lol}{\contentsline {lstlisting}{/home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/OpenModelica/dcmotor\textendash both.mo}{222}\protected@file@percent }
+\@writefile{thm}{\contentsline {OpenModelicamass}{{OpenModelica Code}{10.{2}}{}}{223}\protected@file@percent }
+\@writefile{OpenModelicad}{\contentsline {section}{\numberline {10.{2}}Rotating the DC motor in both directions}{223}\protected@file@percent }
+\newlabel{OpenModelica:dcmotor-both}{{10.{2}}{223}}
+\@writefile{lol}{\contentsline {lstlisting}{/home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/OpenModelica/dcmotor\textendash both.mo}{223}\protected@file@percent }
 \@writefile{thm}{\contentsline {OpenModelicamass}{{OpenModelica Code}{10.{3}}{}}{223}\protected@file@percent }
 \@writefile{OpenModelicad}{\contentsline {section}{\numberline {10.{3}}Rotating the DC motor in both directions in a loop}{223}\protected@file@percent }
 \newlabel{OpenModelica:dcmotor-loop}{{10.{3}}{223}}
diff --git a/floss-arduino.cod b/floss-arduino.cod
index cf31502..82da4b0 100644
--- a/floss-arduino.cod
+++ b/floss-arduino.cod
@@ -26,7 +26,7 @@
 \addvspace {10pt}
 \contentsline {section}{\numberline {10.{1}}Rotating the DC motor}{206}%
 \contentsline {section}{\numberline {10.{2}}Rotating the DC motor in both directions}{206}%
-\contentsline {section}{\numberline {10.{3}}Rotating the DC motor in both directions in a loop}{206}%
+\contentsline {section}{\numberline {10.{3}}Rotating the DC motor in both directions in a loop}{207}%
 \addvspace {10pt}
 \contentsline {section}{\numberline {11.{1}}First 10 lines of the function for scifunc block}{239}%
 \contentsline {section}{\numberline {11.{2}}First 10 lines of the code for Single Phase Current Output}{239}%
diff --git a/floss-arduino.fdb_latexmk b/floss-arduino.fdb_latexmk
index be3c092..7286995 100644
--- a/floss-arduino.fdb_latexmk
+++ b/floss-arduino.fdb_latexmk
@@ -1,19 +1,19 @@
 # Fdb version 3
-["bibtex floss-arduino"] 1620197856 "floss-arduino.aux" "floss-arduino.bbl" "floss-arduino" 1620197995
+["bibtex floss-arduino"] 1620287260 "floss-arduino.aux" "floss-arduino.bbl" "floss-arduino" 1620287272
   "/usr/share/texlive/texmf-dist/bibtex/bst/base/unsrt.bst" 1292289607 18030 1376b4b231b50c66211e47e42eda2875 ""
   "bibliography.bib" 1620178718 4558 9df9b0b27759d4cfc637a7b5fff89181 ""
-  "floss-arduino.aux" 1620197977 142055 3c9adbe1f02b38171411d8f9eb5e29d6 "pdflatex"
+  "floss-arduino.aux" 1620287270 142237 63350a91a798c036aa5a1d0bcdf4f38e "pdflatex"
   (generated)
   "floss-arduino.bbl"
   "floss-arduino.blg"
-["makeindex floss-arduino.idx"] 1620196688 "floss-arduino.idx" "floss-arduino.ind" "floss-arduino" 1620197995
-  "floss-arduino.idx" 1620197977 187 3ea6c935c61035ccb5c169fb34e1da05 "pdflatex"
+["makeindex floss-arduino.idx"] 1620287150 "floss-arduino.idx" "floss-arduino.ind" "floss-arduino" 1620287272
+  "floss-arduino.idx" 1620287270 187 3ea6c935c61035ccb5c169fb34e1da05 "pdflatex"
   (generated)
-  "floss-arduino.ilg"
   "floss-arduino.ind"
-["pdflatex"] 1620197856 "/home/fossee/Desktop/floss-scilab-arduino/floss-arduino.tex" "/home/fossee/Desktop/floss-scilab-arduino/floss-arduino.pdf" "floss-arduino" 1620197995
+  "floss-arduino.ilg"
+["pdflatex"] 1620287260 "/home/fossee/Desktop/floss-scilab-arduino/floss-arduino.tex" "/home/fossee/Desktop/floss-scilab-arduino/floss-arduino.pdf" "floss-arduino" 1620287272
   "/etc/texmf/web2c/texmf.cnf" 1602253014 475 c0e671620eb5563b2130f56340a5fde8 ""
-  "/home/fossee/Desktop/floss-scilab-arduino/floss-arduino.aux" 1620197977 142055 3c9adbe1f02b38171411d8f9eb5e29d6 ""
+  "/home/fossee/Desktop/floss-scilab-arduino/floss-arduino.aux" 1620287270 142237 63350a91a798c036aa5a1d0bcdf4f38e ""
   "/home/fossee/Desktop/floss-scilab-arduino/floss-arduino.tex" 1620092361 4558 98aa7ac618326a3037ae9c9d0000888c ""
   "/usr/share/texlive/texmf-dist/fonts/enc/dvips/base/8r.enc" 1165713224 4850 80dc9bab7f31fb78a000ccfed0e27cab ""
   "/usr/share/texlive/texmf-dist/fonts/map/fontname/texfonts.map" 1577235249 3524 cb3e574dea2d1052e39280babc910dc8 ""
@@ -138,18 +138,18 @@
   "/usr/share/texmf/web2c/texmf.cnf" 1581979058 38841 ce3692aa899bb693b90b87eaa5d4d84e ""
   "/var/lib/texmf/fonts/map/pdftex/updmap/pdftex.map" 1604540077 4770781 1ed1abab22da9c3e2cc82e4db562318b ""
   "/var/lib/texmf/web2c/pdftex/pdflatex.fmt" 1604540101 8258883 e8330f8aa4fe7c6cdcf08bf0b72237fd ""
-  "floss-arduino.OpenModelicad" 1620197977 2294 40e2e23c39a022be21dea10d27626604 "pdflatex"
-  "floss-arduino.ard" 1620197977 2072 2ab0f4ce6f60daa81138bac0e30a2c4f "pdflatex"
-  "floss-arduino.aux" 1620197977 142055 3c9adbe1f02b38171411d8f9eb5e29d6 "pdflatex"
-  "floss-arduino.bbl" 1620197856 2925 895f098dadb71828a3cfe277ebaff5f6 "bibtex floss-arduino"
-  "floss-arduino.cod" 1620197977 2496 2a657aa8c5a8852d23c78dfe3546dc54 "pdflatex"
-  "floss-arduino.ind" 1620196688 228 9a9af8565fd0a0b7fd9f2f6d781fe4c6 "makeindex floss-arduino.idx"
-  "floss-arduino.juliad" 1620197977 2328 277569d91626c96de9945b6fe3d5379e "pdflatex"
-  "floss-arduino.lof" 1620197977 13301 0038d444132c4fe8013d31e15adbeaa2 "pdflatex"
-  "floss-arduino.lot" 1620197977 3596 f36d068cb1378a0e9d7cbc9fdc57a6f9 "pdflatex"
-  "floss-arduino.pyd" 1620197977 2323 ee68eadedfb59a7c5a12563da02548bb "pdflatex"
+  "floss-arduino.OpenModelicad" 1620287270 2294 40e2e23c39a022be21dea10d27626604 "pdflatex"
+  "floss-arduino.ard" 1620287270 2072 6fcdcb0b69babc6392e16f0208a58632 "pdflatex"
+  "floss-arduino.aux" 1620287270 142237 63350a91a798c036aa5a1d0bcdf4f38e "pdflatex"
+  "floss-arduino.bbl" 1620287260 2925 895f098dadb71828a3cfe277ebaff5f6 "bibtex floss-arduino"
+  "floss-arduino.cod" 1620287270 2496 22ab789079bdf6acae4b3630dfd27ad6 "pdflatex"
+  "floss-arduino.ind" 1620287151 228 9a9af8565fd0a0b7fd9f2f6d781fe4c6 "makeindex floss-arduino.idx"
+  "floss-arduino.juliad" 1620287270 2328 277569d91626c96de9945b6fe3d5379e "pdflatex"
+  "floss-arduino.lof" 1620287270 13406 2ef0cbf2674eb7b63cfaa7e439bd1043 "pdflatex"
+  "floss-arduino.lot" 1620287270 3596 f36d068cb1378a0e9d7cbc9fdc57a6f9 "pdflatex"
+  "floss-arduino.pyd" 1620287270 2323 ee68eadedfb59a7c5a12563da02548bb "pdflatex"
   "floss-arduino.tex" 1620092361 4558 98aa7ac618326a3037ae9c9d0000888c ""
-  "floss-arduino.toc" 1620197977 15922 13faa7d0f6a781f90ab6a8a65d3a17c8 "pdflatex"
+  "floss-arduino.toc" 1620287270 15922 e757821565ea1e9edc2a9d4593ce0f03 "pdflatex"
   "suppl/acr.tex" 1615963613 1926 fd6481c4666ee0d60331b7d4cc24b645 ""
   "suppl/intro.tex" 1615963613 3437 b09628cf9e20fe17fa65b37a5997653c ""
   "suppl/styles.tex" 1615963613 8143 aa3280f0b59c8631fe8ec44895c9e871 ""
@@ -167,19 +167,20 @@
   "user-code/dcmotor/arduino/dcmotor-both/dcmotor-both.ino" 1620088994 504 8a85b1257282a49f134cec02b30182e2 ""
   "user-code/dcmotor/arduino/dcmotor-clock/dcmotor-clock.ino" 1620088994 426 6316038efc09b67c75c077917c40e3e4 ""
   "user-code/dcmotor/arduino/dcmotor-loop/dcmotor-loop.ino" 1620088994 665 a13b061f7e773a0ff7e178ed73915282 ""
-  "user-code/dcmotor/dcmotor.tex" 1620197952 63900 916dd2ecfc8840b3dd0729045034a511 ""
+  "user-code/dcmotor/dcmotor.tex" 1620287256 64088 618786540fc53c247caaa06709b88435 ""
   "user-code/dcmotor/figures/dc_motor_description.jpg" 1615963613 694440 a424c50ad327bc459a4ab4808f398262 ""
-  "user-code/dcmotor/figures/dcmotor-both.png" 1615963613 32214 a1429a4cc0aee2d50d6c8b886530f9e9 ""
-  "user-code/dcmotor/figures/dcmotor-clock.png" 1615963613 26079 07178ea354fae535528fba334b484540 ""
-  "user-code/dcmotor/figures/dcmotor-loop.png" 1615963613 28069 bc29d801afcbd2b0dcf5f9b69f21a4d9 ""
+  "user-code/dcmotor/figures/dcmotor-both.png" 1620285295 107985 6c7508b957f7980eea96e374fc266250 ""
+  "user-code/dcmotor/figures/dcmotor-clock.png" 1620285333 127858 2fa567ed8934ca422ee86d50d1d5545f ""
+  "user-code/dcmotor/figures/dcmotor-loop.png" 1620285372 105062 026f713ad0fe348d43acd5f25ba6f933 ""
   "user-code/dcmotor/figures/dcmotor_board.png" 1615963613 114406 92155ec29d259e5fcda6bce5c6b08004 ""
   "user-code/dcmotor/figures/schematic.png" 1615963613 29144 971dcba68f6e79a1c3c5777dac2627ea ""
+  "user-code/dcmotor/figures/uno-pwm.jpg" 1620287023 23651746 2ec5a0eed097b7f598b0c4ea884977a9 ""
   "user-code/dcmotor/julia/dcmotor-both.jl" 1620088994 270 2a8057cb974830a91cb2ccaaeaeec8d3 ""
   "user-code/dcmotor/julia/dcmotor-clock.jl" 1620088994 223 18e184ba00cf35946e451fb37590725a ""
   "user-code/dcmotor/julia/dcmotor-loop.jl" 1620088994 342 a624b9b98fc1787face9e2a5cc07f84f ""
   "user-code/dcmotor/python/dcmotor-both.py" 1620088994 864 275cefa529d28743b47a46b87b31ff91 ""
-  "user-code/dcmotor/python/dcmotor-clock.py" 1620088994 828 45f26772b950f2cda439c1e36a21b3c8 ""
-  "user-code/dcmotor/python/dcmotor-loop.py" 1620088994 963 a3a641fe67fe45a93a7b5c1aafcfab56 ""
+  "user-code/dcmotor/python/dcmotor-clock.py" 1620285183 830 e4bb3de5e98eb204a3dada5009db8343 ""
+  "user-code/dcmotor/python/dcmotor-loop.py" 1620285183 968 97af73f5b57d7b510ecd4383c3bc4f93 ""
   "user-code/dcmotor/scilab/dcmotor-both.sce" 1620088994 478 628af43e0c3f08f643098a596ad835cf ""
   "user-code/dcmotor/scilab/dcmotor-clock.sce" 1620088994 358 714e3d2a3677b19a80dcc181cadf6e4d ""
   "user-code/dcmotor/scilab/dcmotor-loop.sce" 1620088994 624 72d01e150c668c28e3823b3ff124a6f1 ""
@@ -389,18 +390,18 @@
   "user-code/thermistor/scilab/therm-read.sce" 1619998644 399 3d4d94a3003c16014a51200a9b472b66 ""
   "user-code/thermistor/thermistor.tex" 1620094206 41317 2326a2c871f17f79a710f7c64b8a31e5 ""
   (generated)
-  "floss-arduino.log"
-  "floss-arduino.thm"
-  "/home/fossee/Desktop/floss-scilab-arduino/floss-arduino.log"
+  "floss-arduino.lot"
   "floss-arduino.idx"
+  "floss-arduino.juliad"
+  "/home/fossee/Desktop/floss-scilab-arduino/floss-arduino.log"
+  "floss-arduino.pyd"
   "floss-arduino.aux"
+  "floss-arduino.lof"
+  "floss-arduino.thm"
+  "floss-arduino.log"
   "floss-arduino.ard"
-  "floss-arduino.lot"
-  "floss-arduino.pdf"
-  "floss-arduino.cod"
-  "floss-arduino.pyd"
   "/home/fossee/Desktop/floss-scilab-arduino/floss-arduino.pdf"
-  "floss-arduino.lof"
-  "floss-arduino.juliad"
-  "floss-arduino.OpenModelicad"
+  "floss-arduino.pdf"
   "floss-arduino.toc"
+  "floss-arduino.OpenModelicad"
+  "floss-arduino.cod"
diff --git a/floss-arduino.fls b/floss-arduino.fls
index c14abc0..b8065d5 100644
--- a/floss-arduino.fls
+++ b/floss-arduino.fls
@@ -1022,6 +1022,9 @@ INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/dcmotor.tex
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/figures/dcmotor_board.png
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/figures/dcmotor_board.png
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/figures/dcmotor_board.png
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/figures/uno-pwm.jpg
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/figures/uno-pwm.jpg
+INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/figures/uno-pwm.jpg
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/figures/schematic.png
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/figures/schematic.png
 INPUT /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/figures/schematic.png
diff --git a/floss-arduino.juliad b/floss-arduino.juliad
index 4e35cc1..fccaf6e 100644
--- a/floss-arduino.juliad
+++ b/floss-arduino.juliad
@@ -22,7 +22,7 @@
 \contentsline {section}{\numberline {9.{4}}Rotating the servomotor to a degree specified by the potentiometer}{191}%
 \addvspace {10pt}
 \contentsline {section}{\numberline {10.{1}}Rotating the DC motor}{218}%
-\contentsline {section}{\numberline {10.{2}}Rotating the DC motor in both directions}{218}%
+\contentsline {section}{\numberline {10.{2}}Rotating the DC motor in both directions}{219}%
 \contentsline {section}{\numberline {10.{3}}Rotating the DC motor in both directions in a loop}{219}%
 \addvspace {10pt}
 \contentsline {section}{\numberline {11.{1}}Code for Single Phase Current Output}{241}%
diff --git a/floss-arduino.lof b/floss-arduino.lof
index 18d03c3..0be5526 100644
--- a/floss-arduino.lof
+++ b/floss-arduino.lof
@@ -109,11 +109,12 @@
 \contentsline {figure}{\numberline {9.4}{\ignorespaces Rotating the servomotor as suggested by the potentiometer}}{183}%
 \addvspace {10\p@ }
 \contentsline {figure}{\numberline {10.1}{\ignorespaces L293D motor driver board\relax }}{198}%
-\contentsline {figure}{\numberline {10.2}{\ignorespaces A schematic of DC motor connections\relax }}{199}%
-\contentsline {figure}{\numberline {10.3}{\ignorespaces How to connect the DC motor to the Arduino Uno\ board\relax }}{200}%
-\contentsline {figure}{\numberline {10.4}{\ignorespaces Control of DC motor for a specified time from Xcos}}{207}%
-\contentsline {figure}{\numberline {10.5}{\ignorespaces Xcos control of the DC motor in forward and reverse directions}}{208}%
-\contentsline {figure}{\numberline {10.6}{\ignorespaces Xcos control of the DC motor in forward and reverse directions}}{210}%
+\contentsline {figure}{\numberline {10.2}{\ignorespaces PWM pins on an Arduino Uno\ board\relax }}{199}%
+\contentsline {figure}{\numberline {10.3}{\ignorespaces A schematic of DC motor connections\relax }}{199}%
+\contentsline {figure}{\numberline {10.4}{\ignorespaces How to connect the DC motor to the Arduino Uno\ board\relax }}{200}%
+\contentsline {figure}{\numberline {10.5}{\ignorespaces Control of DC motor for a specified time from Xcos}}{208}%
+\contentsline {figure}{\numberline {10.6}{\ignorespaces Xcos control of the DC motor in forward and reverse directions}}{209}%
+\contentsline {figure}{\numberline {10.7}{\ignorespaces Xcos control of the DC motor in forward and reverse directions}}{210}%
 \addvspace {10\p@ }
 \contentsline {figure}{\numberline {11.1}{\ignorespaces Block diagram representation of the Protocol\relax }}{226}%
 \contentsline {figure}{\numberline {11.2}{\ignorespaces Master-Slave Query-Response Cycle\relax }}{226}%
diff --git a/floss-arduino.log b/floss-arduino.log
index 7e19b37..15f46ea 100644
--- a/floss-arduino.log
+++ b/floss-arduino.log
@@ -1,4 +1,4 @@
-This is pdfTeX, Version 3.14159265-2.6-1.40.20 (TeX Live 2019/Debian) (preloaded format=pdflatex 2020.11.5)  6 MAY 2021 12:49
+This is pdfTeX, Version 3.14159265-2.6-1.40.20 (TeX Live 2019/Debian) (preloaded format=pdflatex 2020.11.5)  6 MAY 2021 13:19
 entering extended mode
  restricted \write18 enabled.
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+[197]
+</home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/figures/uno-pwm.jp
+g, id=907, 1653.5376pt x 1239.1896pt>
+File: /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/figures/uno-p
+wm.jpg Graphic file (type jpg)
+<use /home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/figures/uno-pw
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+ [198 </home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/figures/dcmo
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+png, id=912, 415.5525pt x 467.7475pt>
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+pwm.jpg> </home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/figures/s
+chematic.png>]
 (/home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/arduino/dcmotor-cl
-ock/dcmotor-clock.ino)
+ock/dcmotor-clock.ino) [200 </home/fossee/Desktop/floss-scilab-arduino/user-cod
+e/dcmotor/figures/dc_motor_description.jpg>]
 (/home/fossee/Desktop/floss-scilab-arduino/user-code/dcmotor/arduino/dcmotor-cl
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diff --git a/floss-arduino.pdf b/floss-arduino.pdf
index fcac50e..b07b3d7 100644
--- a/floss-arduino.pdf
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diff --git a/floss-arduino.thm b/floss-arduino.thm
index 81f371c..d2da64d 100644
--- a/floss-arduino.thm
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diff --git a/floss-arduino.toc b/floss-arduino.toc
index e8a7c50..9209b15 100644
--- a/floss-arduino.toc
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@@ -191,17 +191,17 @@
 \contentsline {section}{\numberline {10.4}Controlling the DC Motor from Xcos}{207}%
 \contentsline {section}{\numberline {10.5}Controlling the DC Motor from Python}{210}%
 \contentsline {subsection}{\numberline {10.5.1}Controlling the DC Motor}{210}%
-\contentsline {paragraph}{Note:}{210}%
+\contentsline {paragraph}{Note:}{211}%
 \contentsline {paragraph}{Note:}{212}%
 \contentsline {subsection}{\numberline {10.5.2}Python Code}{213}%
 \contentsline {section}{\numberline {10.6}Controlling the DC Motor from Julia}{216}%
 \contentsline {subsection}{\numberline {10.6.1}Controlling the DC Motor}{216}%
 \contentsline {paragraph}{Note:}{216}%
-\contentsline {paragraph}{Note:}{217}%
+\contentsline {paragraph}{Note:}{218}%
 \contentsline {subsection}{\numberline {10.6.2}Julia Code}{218}%
-\contentsline {section}{\numberline {10.7}Controlling the DC Motor from OpenModelica}{219}%
-\contentsline {subsection}{\numberline {10.7.1}Controlling the DC Motor}{219}%
-\contentsline {paragraph}{Note:}{219}%
+\contentsline {section}{\numberline {10.7}Controlling the DC Motor from OpenModelica}{220}%
+\contentsline {subsection}{\numberline {10.7.1}Controlling the DC Motor}{220}%
+\contentsline {paragraph}{Note:}{220}%
 \contentsline {paragraph}{Note:}{221}%
 \contentsline {subsection}{\numberline {10.7.2}OpenModelica Code}{222}%
 \contentsline {chapter}{\numberline {11}Implementation of Modbus Protocol}{225}%
diff --git a/user-code/dcmotor/dcmotor.tex b/user-code/dcmotor/dcmotor.tex
index dbf7abb..dacf0ea 100644
--- a/user-code/dcmotor/dcmotor.tex
+++ b/user-code/dcmotor/dcmotor.tex
@@ -85,10 +85,17 @@ 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 Fig. For each of these pins, the input can come from 8 bits.

+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

diff --git a/user-code/dcmotor/figures/uno-pwm.jpg b/user-code/dcmotor/figures/uno-pwm.jpg
new file mode 100644
index 0000000..b3489a3
--- /dev/null
+++ b/user-code/dcmotor/figures/uno-pwm.jpg