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Closed Loop Assignment - Part 1 - Filtering

 1)    Filtering exercise:

a.    Run turntable at maximum PWM (100%) for 270 degrees then set the PWM to zero and allow it to slow down and stop. The filtering algorithm should be incorporated into the code. Provide output and plot displacement and velocity vs. time.

b.    Calculate unfiltered and filtered velocity (using the same time constant as in the Arduino code) from the displacement output obtained in part a. Compare calculated filtered velocity from what was output by the Arduino.

c.    Provide plots of calculated velocity using a 2 time constants different then what was used in the Arduino. One should be 0.5X and the other 3X.

d.    Repeat a, b, and c with the turntable rotating in the other direction.