PWM's make a good DAC with just a low pass filter and vary the duty cycle. Lots of information if you do a google search on PWM and DAC. However since you want to convert it to a +/-10V output, and the parallel port is logic level, use a solid state analog switch to switch a +10V source or a -10V source based on the direction signal. Pick a switch that will handle the frequency of your pwm and that will switch +/- 10V.
Phil, Still too many interests, too many projects, and not enough time!!!!!!!!
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