Creating a real DAC
Fortunately, it is easy to convert a PWM output to an analog voltage level, producing a true DAC. All that is needed is a simple low-pass filter made from a resistor and a ceramic capacitor. The simple RC low-pass filter shown in the third photo converts the PWM signal to a voltage proportional to the duty cycle. For the Arduino, an R value = 3.9K and a C value = 0.1uF works well for most applications.
For more details on this subject as well as calculating R & C values more suitable for your application, please consult this article.
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