Controlling DC Motor


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Can anyone please help me in my assignment? Here are the details: I am using a bi-polar, pulse-width modulated(PWM), H Bridge circuit to drive a permanent magnet, brushed DC motor. I need to use C++ to turn the dc motor to rotate in clockwise and counterclockwise and to calculate the duty cycle and speed(rpm) of the dc motor. Hardware side should not be a problem because I already have a circuit diagram. Just the programming part. Anyone can help? please...