In this chapter, we learned some theory about PWM. We saw that PWM is a way of creating analog values on digital pins. It can be used to drive analog output devices like motors, LEDs, speakers, and so on. We studied PWM waves and how a duty cycle can be used to control analog devices. BeagleBone has a special subsystem dedicated to generating PWM that work on subset of GPIO pins. Then we wrote a program to control the brightness of an LED via PWM. We also wrote a program to control the servo motor angle. Until now, we have done many physical computing exercises. Let's connect our BeagleBone to the Internet and control these physical components from the Internet. We will do this in next chapter. That will be our first step toward the Internet of Things (IoT).