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1a40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 72 22 09 00 7c 00 6a 06 00 00 00 00 00 00 00 00 00	...............r"..|.j..........
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2020	22 2c 20 65 74 63 2e 0a 20 20 20 20 20 20 20 20 20 20 76 61 6c 75 65 3a 20 31 20 3d 20 48 49 47	",.etc............value:.1.=.HIG
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2160	00 00 00 00 00 00 7d 02 7c 00 6a 07 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 64 03	......}.|.j...................d.
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5780	00 74 00 00 00 00 00 00 00 00 00 53 00 72 58 00 00 00 29 01 72 46 00 00 00 a9 00 72 5b 00 00 00	.t.........S.rX...).rF.....r[...
57a0	72 3a 00 00 00 da 15 69 73 5f 70 79 73 65 72 69 61 6c 5f 61 76 61 69 6c 61 62 6c 65 7a 22 41 72	r:.....is_pyserial_availablez"Ar
57c0	64 75 69 6e 6f 4c 61 79 65 72 2e 69 73 5f 70 79 73 65 72 69 61 6c 5f 61 76 61 69 6c 61 62 6c 65	duinoLayer.is_pyserial_available
57e0	fb 01 00 00 73 08 00 00 00 80 00 e4 0f 20 d0 08 20 72 5b 00 00 00 63 01 00 00 00 00 00 00 00 00	....s............r[...c.........
5800	00 00 00 05 00 00 00 03 00 00 00 f3 7c 00 00 00 97 00 7c 00 6a 00 00 00 00 00 00 00 00 00 00 00	............|.....|.j...........
5820	00 00 00 00 00 00 00 00 72 02 64 01 6e 1b 64 02 7c 00 6a 02 00 00 00 00 00 00 00 00 00 00 00 00	........r.d.n.d.|.j.............
5840	00 00 00 00 00 00 9b 00 64 03 7c 00 6a 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	........d.|.j...................
5860	9b 00 9d 04 7d 01 64 04 7c 01 9b 00 64 05 7c 00 6a 06 00 00 00 00 00 00 00 00 00 00 00 00 00 00	....}.d.|...d.|.j...............
5880	00 00 00 00 9b 00 64 06 9d 05 53 00 29 07 4e da 03 53 49 4d 7a 03 48 57 3a fa 01 40 7a 0e 3c 41	......d...S.).N..SIMz.HW:..@z.<A
58a0	72 64 75 69 6e 6f 4c 61 79 65 72 20 7a 06 20 70 69 6e 73 3d fa 01 3e 29 04 72 1c 00 00 00 72 17	rduinoLayer.z..pins=..>).r....r.
58c0	00 00 00 72 18 00 00 00 72 1a 00 00 00 29 02 72 37 00 00 00 da 04 6d 6f 64 65 73 02 00 00 00 20	...r....r....).r7.....modes.....
58e0	20 72 3a 00 00 00 da 08 5f 5f 72 65 70 72 5f 5f 7a 15 41 72 64 75 69 6e 6f 4c 61 79 65 72 2e 5f	.r:.....__repr__z.ArduinoLayer._
5900	5f 72 65 70 72 5f 5f ff 01 00 00 73 40 00 00 00 80 00 d8 18 1c 9f 0d 9a 0d 89 75 a8 53 b0 14 b7	_repr__....s@.............u.S...
5920	19 b1 19 b0 0b b8 31 b8 54 bf 59 b9 59 b8 4b d0 2b 48 88 04 d8 11 1f a0 04 98 76 a0 56 a8 44 d7	......1.T.Y.Y.K.+H........v.V.D.
5940	2c 3c d1 2c 3c d0 2b 3d b8 51 d0 0f 3f d0 08 3f 72 5b 00 00 00 29 06 da 04 43 4f 4d 33 69 00 c2	,<.,<.+=.Q..?..?r[...)...COM3i..
5960	01 00 67 00 00 00 00 00 00 f0 3f 4e 4e 54 29 02 72 3c 00 00 00 4e 29 2e da 08 5f 5f 6e 61 6d 65	..g.......?NNT).r<...N)...__name
5980	5f 5f da 0a 5f 5f 6d 6f 64 75 6c 65 5f 5f da 0c 5f 5f 71 75 61 6c 6e 61 6d 65 5f 5f 72 27 00 00	__..__module__..__qualname__r'..
59a0	00 da 14 44 45 46 41 55 4c 54 5f 44 49 47 49 54 41 4c 5f 50 49 4e 53 72 4d 00 00 00 72 65 00 00	...DEFAULT_DIGITAL_PINSrM...re..
59c0	00 72 7e 00 00 00 72 06 00 00 00 72 66 00 00 00 72 3b 00 00 00 72 50 00 00 00 72 56 00 00 00 da	.r~...r....rf...r;...rP...rV....
59e0	08 70 72 6f 70 65 72 74 79 72 5a 00 00 00 72 5d 00 00 00 72 05 00 00 00 72 60 00 00 00 72 68 00	.propertyrZ...r]...r....r`...rh.
5a00	00 00 72 6f 00 00 00 72 72 00 00 00 72 76 00 00 00 72 7b 00 00 00 72 03 00 00 00 72 7f 00 00 00	..ro...rr...rv...r{...r....r....
5a20	72 81 00 00 00 72 83 00 00 00 72 85 00 00 00 72 87 00 00 00 72 8c 00 00 00 72 04 00 00 00 72 91	r....r....r....r....r....r....r.
5a40	00 00 00 72 94 00 00 00 72 64 00 00 00 72 4e 00 00 00 72 44 00 00 00 72 99 00 00 00 72 a7 00 00	...r....rd...rN...rD...r....r...
5a60	00 72 c3 00 00 00 72 e7 00 00 00 72 e9 00 00 00 da 0c 73 74 61 74 69 63 6d 65 74 68 6f 64 72 08	.r....r....r......staticmethodr.
5a80	00 00 00 72 ec 00 00 00 72 f2 00 00 00 72 f8 00 00 00 72 f1 00 00 00 72 5b 00 00 00 72 3a 00 00	...r....r....r....r....r[...r:..
5aa0	00 72 0a 00 00 00 72 0a 00 00 00 4a 00 00 00 73 9c 02 00 00 84 00 e2 1b 3f d0 04 17 da 1b 3f d0	.r....r....J...s........?.....?.
5ac0	04 18 f0 08 00 23 29 d8 22 28 d8 22 25 d8 22 26 d8 22 26 d8 22 26 f1 0f 28 05 2f e0 16 19 f0 05	.....#)."(."%."&."&."&..(./.....
5ae0	28 05 2f f0 06 00 17 1a f0 07 28 05 2f f0 08 00 17 1c f0 09 28 05 2f f0 0a 00 17 1b 98 33 91 69	(./.......(./.......(./......3.i
5b00	f0 0b 28 05 2f f0 0c 00 17 1b 98 33 91 69 f0 0d 28 05 2f f0 0e 00 17 1b f3 0f 28 05 2f f0 58 01	..(./......3.i..(./.......(./.X.
5b20	22 05 14 98 14 f3 00 22 05 14 f3 48 01 0c 05 20 f0 1c 00 06 0e f0 02 03 05 3b 98 64 f2 00 03 05	"......"...H.............;.d....
5b40	3b f3 03 00 06 0e f0 02 03 05 3b f0 0a 00 06 0e f0 02 01 05 20 98 43 f2 00 01 05 20 f3 03 00 06	;.........;...........C.........
5b60	0e f0 02 01 05 20 f0 0a 03 05 25 90 64 98 33 a0 05 98 3a d1 16 26 f3 00 03 05 25 f0 0e 07 05 39	..........%.d.3...:..&....%....9
5b80	a0 13 f0 00 07 05 39 a8 53 f0 00 07 05 39 b0 54 f3 00 07 05 39 f0 12 08 05 2d 98 53 f0 00 08 05	......9.S....9.T....9....-.S....
5ba0	2d a8 03 f0 00 08 05 2d b0 04 f3 00 08 05 2d f0 14 02 05 3b a0 13 f0 00 02 05 3b a8 35 f0 00 02	-......-......-....;......;.5...
5bc0	05 3b b0 54 f3 00 02 05 3b f0 08 07 05 34 a0 23 f0 00 07 05 34 b0 05 f0 00 07 05 34 b8 24 f3 00	.;.T....;....4.#....4......4.$..
5be0	07 05 34 f0 12 08 05 33 a0 43 f0 00 08 05 33 b0 03 f0 00 08 05 33 b8 04 f3 00 08 05 33 f0 14 09	..4....3.C....3......3......3...
5c00	05 2f a0 23 f0 00 09 05 2f a8 63 f0 00 09 05 2f b0 64 f3 00 09 05 2f f0 16 06 05 27 a0 23 f0 00	./.#..../.c..../.d..../....'.#..
5c20	06 05 27 a8 24 f3 00 06 05 27 f0 10 02 05 23 98 74 f3 00 02 05 23 f0 08 02 05 24 a0 04 f3 00 02	..'.$....'....#.t....#....$.....
5c40	05 24 f0 08 02 05 25 98 74 f3 00 02 05 25 f0 0c 08 05 2e 98 13 f0 00 08 05 2e a0 53 f0 00 08 05	.$....%.t....%.............S....
5c60	2e a8 54 f3 00 08 05 2e f0 18 02 05 2d 98 78 a8 13 a8 05 a8 74 a8 0b d1 1f 34 f3 00 02 05 2d f0	..T.........-.x.....t....4....-.
5c80	08 02 05 2d a0 18 a8 33 a8 25 b0 14 a8 2b d1 21 36 f3 00 02 05 2d f0 0c 0c 05 19 98 53 f0 00 0c	...-...3.%...+.!6....-......S...
5ca0	05 19 a0 54 f3 00 0c 05 19 f2 20 1f 05 20 f2 42 01 0c 05 1d f0 1c 15 05 15 a8 33 f3 00 15 05 15	...T...........B..........3.....
5cc0	f0 32 1d 05 2b a0 13 f3 00 1d 05 2b f0 3e 4c 01 05 16 a0 03 f0 00 4c 01 05 16 a8 04 a8 53 b0 25	.2..+......+.>L.......L......S.%
5ce0	a8 5a d1 28 38 f3 00 4c 01 05 16 f0 5c 02 00 06 0e f0 02 03 05 39 98 34 f2 00 03 05 39 f3 03 00	.Z.(8..L....\........9.4....9...
5d00	06 0e f0 02 03 05 39 f0 0e 00 06 12 f0 02 0a 05 16 98 04 98 55 a0 33 a8 03 a0 38 99 5f d1 18 2d	......9.............U.3...8._..-
5d20	f2 00 0a 05 16 f3 03 00 06 12 f0 02 0a 05 16 f0 18 00 06 12 f0 02 01 05 21 a0 34 f2 00 01 05 21	........................!.4....!
5d40	f3 03 00 06 12 f0 02 01 05 21 f3 06 02 05 40 01 72 5b 00 00 00 72 0a 00 00 00 75 d7 1a 00 00 0a	.........!....@.r[...r....u.....
5d60	2f 2a 0a 20 2a 20 4c 61 62 44 41 51 20 41 72 64 75 69 6e 6f 20 46 69 72 6d 77 61 72 65 20 76 31	/*..*.LabDAQ.Arduino.Firmware.v1
5d80	2e 31 0a 20 2a 20 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94	.1..*...........................
5da0	80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2	................................
5dc0	94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80	................................
5de0	e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94	................................
5e00	80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2	................................
5e20	94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80	................................
5e40	e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94	................................
5e60	80 0a 20 2a 20 55 70 6c 6f 61 64 20 74 68 69 73 20 73 6b 65 74 63 68 20 74 6f 20 79 6f 75 72 20	...*.Upload.this.sketch.to.your.
5e80	41 72 64 75 69 6e 6f 2e 0a 20 2a 20 53 65 74 20 62 61 75 64 20 72 61 74 65 20 74 6f 20 31 31 35	Arduino...*.Set.baud.rate.to.115
5ea0	32 30 30 20 69 6e 20 62 6f 74 68 20 74 68 69 73 20 73 6b 65 74 63 68 20 61 6e 64 20 4c 61 62 44	200.in.both.this.sketch.and.LabD
5ec0	41 51 2e 0a 20 2a 0a 20 2a 20 57 48 41 54 20 49 54 20 44 4f 45 53 0a 20 2a 20 20 20 43 6f 6e 74	AQ...*..*.WHAT.IT.DOES..*...Cont
5ee0	69 6e 75 6f 75 73 6c 79 20 73 74 72 65 61 6d 73 20 61 6e 61 6c 6f 67 20 2b 20 64 69 67 69 74 61	inuously.streams.analog.+.digita
5f00	6c 20 72 65 61 64 69 6e 67 73 20 74 6f 20 74 68 65 20 50 43 2e 0a 20 2a 20 20 20 4c 69 73 74 65	l.readings.to.the.PC...*...Liste
5f20	6e 73 20 66 6f 72 20 63 6f 6d 6d 61 6e 64 73 20 66 72 6f 6d 20 74 68 65 20 50 43 20 61 6e 64 20	ns.for.commands.from.the.PC.and.
5f40	65 78 65 63 75 74 65 73 20 74 68 65 6d 2e 0a 20 2a 0a 20 2a 20 52 45 43 45 49 56 45 44 20 43 4f	executes.them...*..*.RECEIVED.CO
5f60	4d 4d 41 4e 44 53 20 28 50 43 20 e2 86 92 20 41 72 64 75 69 6e 6f 29 3a 0a 20 2a 20 20 20 57 3a	MMANDS.(PC.....Arduino):..*...W:
5f80	44 31 33 3a 31 20 20 20 20 20 20 20 20 20 20 64 69 67 69 74 61 6c 57 72 69 74 65 28 31 33 2c 20	D13:1..........digitalWrite(13,.
5fa0	48 49 47 48 29 0a 20 2a 20 20 20 57 3a 44 36 3a 30 20 20 20 20 20 20 20 20 20 20 20 64 69 67 69	HIGH)..*...W:D6:0...........digi
5fc0	74 61 6c 57 72 69 74 65 28 36 2c 20 20 4c 4f 57 29 0a 20 2a 20 20 20 50 3a 44 39 3a 31 32 38 20	talWrite(6,..LOW)..*...P:D9:128.
5fe0	20 20 20 20 20 20 20 20 61 6e 61 6c 6f 67 57 72 69 74 65 28 39 2c 20 31 32 38 29 20 20 20 e2 86	........analogWrite(9,.128).....
6000	92 20 7e 35 30 25 20 50 57 4d 0a 20 2a 20 20 20 43 3a 53 45 54 50 4f 49 4e 54 3a 37 35 2e 30 20	..~50%.PWM..*...C:SETPOINT:75.0.
6020	20 73 74 6f 72 65 20 6e 61 6d 65 64 20 70 61 72 61 6d 65 74 65 72 0a 20 2a 20 20 20 51 3a 41 30	.store.named.parameter..*...Q:A0
6040	20 20 20 20 20 20 20 20 20 20 20 20 20 72 65 70 6c 79 20 69 6d 6d 65 64 69 61 74 65 6c 79 20 77	.............reply.immediately.w
6060	69 74 68 20 41 30 20 72 65 61 64 69 6e 67 0a 20 2a 20 20 20 52 3a 41 4c 4c 20 20 20 20 20 20 20	ith.A0.reading..*...R:ALL.......
6080	20 20 20 20 20 73 65 6e 64 20 66 75 6c 6c 20 64 61 74 61 20 66 72 61 6d 65 20 69 6d 6d 65 64 69	.....send.full.data.frame.immedi
60a0	61 74 65 6c 79 0a 20 2a 20 20 20 58 3a 53 54 4f 50 20 20 20 20 20 20 20 20 20 20 20 73 65 74 20	ately..*...X:STOP...........set.
60c0	61 6c 6c 20 6f 75 74 70 75 74 73 20 4c 4f 57 0a 20 2a 20 20 20 58 3a 52 45 53 45 54 20 20 20 20	all.outputs.LOW..*...X:RESET....
60e0	20 20 20 20 20 20 72 65 73 65 74 20 74 6f 20 64 65 66 61 75 6c 74 73 0a 20 2a 0a 20 2a 20 53 45	......reset.to.defaults..*..*.SE
6100	4e 54 20 44 41 54 41 20 28 41 72 64 75 69 6e 6f 20 e2 86 92 20 50 43 29 3a 0a 20 2a 20 20 20 41	NT.DATA.(Arduino.....PC):..*...A
6120	30 3a 33 2e 31 34 32 2c 41 31 3a 30 2e 30 31 35 2c 44 32 3a 30 2c 44 33 3a 31 5c 6e 20 20 20 20	0:3.142,A1:0.015,D2:0,D3:1\n....
6140	20 28 65 76 65 72 79 20 53 45 4e 44 5f 49 4e 54 45 52 56 41 4c 20 6d 73 29 0a 20 2a 20 20 20 41	.(every.SEND_INTERVAL.ms)..*...A
6160	43 4b 3a 57 3a 44 31 33 3a 31 5c 6e 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	CK:W:D13:1\n....................
6180	20 20 20 28 61 66 74 65 72 20 65 61 63 68 20 63 6f 6d 6d 61 6e 64 29 0a 20 2a 20 20 20 45 52 52	...(after.each.command)..*...ERR
61a0	3a 55 6e 6b 6e 6f 77 6e 20 63 6f 6d 6d 61 6e 64 5c 6e 20 20 20 20 20 20 20 20 20 20 20 20 20 20	:Unknown.command\n..............
61c0	20 28 6f 6e 20 70 61 72 73 65 20 66 61 69 6c 75 72 65 29 0a 20 2a 20 e2 94 80 e2 94 80 e2 94 80	.(on.parse.failure)..*..........
61e0	e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94	................................
6200	80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2	................................
6220	94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80	................................
6240	e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94	................................
6260	80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2	................................
6280	94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80	................................
62a0	e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 0a 20 2a 2f 0a 0a 2f 2f 20 e2 94 80 e2 94	....................*/..//......
62c0	80 20 43 6f 6e 66 69 67 75 72 61 74 69 6f 6e 20 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2	..Configuration.................
62e0	94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80	................................
6300	e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94	................................
6320	80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2	................................
6340	94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80	................................
6360	e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 0a 63 6f 6e 73	............................cons
6380	74 20 69 6e 74 20 41 4e 41 4c 4f 47 5f 50 49 4e 53 5b 5d 20 20 3d 20 7b 41 30 2c 20 41 31 2c 20	t.int.ANALOG_PINS[]..=.{A0,.A1,.
63a0	41 32 2c 20 41 33 2c 20 41 34 2c 20 41 35 7d 3b 0a 63 6f 6e 73 74 20 69 6e 74 20 44 49 47 49 54	A2,.A3,.A4,.A5};.const.int.DIGIT
63c0	41 4c 5f 49 4e 5b 5d 20 20 20 3d 20 7b 32 2c 20 33 2c 20 34 7d 3b 0a 63 6f 6e 73 74 20 69 6e 74	AL_IN[]...=.{2,.3,.4};.const.int
63e0	20 44 49 47 49 54 41 4c 5f 4f 55 54 5b 5d 20 20 3d 20 7b 35 2c 20 36 2c 20 37 2c 20 39 2c 20 31	.DIGITAL_OUT[]..=.{5,.6,.7,.9,.1
6400	30 2c 20 31 31 7d 3b 20 20 20 2f 2f 20 39 2c 31 30 2c 31 31 20 61 72 65 20 50 57 4d 2d 63 61 70	0,.11};...//.9,10,11.are.PWM-cap
6420	61 62 6c 65 0a 63 6f 6e 73 74 20 69 6e 74 20 4e 5f 41 4e 41 4c 4f 47 20 20 20 20 20 20 20 3d 20	able.const.int.N_ANALOG.......=.
6440	31 3b 20 20 20 20 2f 2f 20 e2 86 90 20 73 65 74 20 74 6f 20 68 6f 77 20 6d 61 6e 79 20 61 6e 61	1;....//.....set.to.how.many.ana
6460	6c 6f 67 20 70 69 6e 73 20 79 6f 75 20 75 73 65 0a 63 6f 6e 73 74 20 69 6e 74 20 4e 5f 44 49 47	log.pins.you.use.const.int.N_DIG
6480	5f 49 4e 20 20 20 20 20 20 20 3d 20 30 3b 20 20 20 20 2f 2f 20 e2 86 90 20 73 65 74 20 74 6f 20	_IN.......=.0;....//.....set.to.
64a0	68 6f 77 20 6d 61 6e 79 20 64 69 67 69 74 61 6c 20 69 6e 70 75 74 73 20 79 6f 75 20 75 73 65 0a	how.many.digital.inputs.you.use.
64c0	63 6f 6e 73 74 20 69 6e 74 20 4e 5f 44 49 47 5f 4f 55 54 20 20 20 20 20 20 3d 20 36 3b 20 20 20	const.int.N_DIG_OUT......=.6;...
64e0	20 2f 2f 20 e2 86 90 20 73 65 74 20 74 6f 20 68 6f 77 20 6d 61 6e 79 20 64 69 67 69 74 61 6c 20	.//.....set.to.how.many.digital.
6500	6f 75 74 70 75 74 73 20 79 6f 75 20 75 73 65 0a 63 6f 6e 73 74 20 69 6e 74 20 53 45 4e 44 5f 49	outputs.you.use.const.int.SEND_I
6520	4e 54 45 52 56 41 4c 20 20 3d 20 35 30 3b 20 20 20 2f 2f 20 6d 73 20 62 65 74 77 65 65 6e 20 64	NTERVAL..=.50;...//.ms.between.d
6540	61 74 61 20 66 72 61 6d 65 73 20 28 35 30 20 3d 20 32 30 20 48 7a 29 0a 63 6f 6e 73 74 20 6c 6f	ata.frames.(50.=.20.Hz).const.lo
6560	6e 67 20 42 41 55 44 5f 52 41 54 45 20 20 20 20 20 3d 20 31 31 35 32 30 30 3b 0a 0a 2f 2f 20 e2	ng.BAUD_RATE.....=.115200;..//..
6580	94 80 e2 94 80 20 4e 61 6d 65 64 20 70 61 72 61 6d 65 74 65 72 73 20 28 73 65 74 20 76 69 61 20	......Named.parameters.(set.via.
65a0	43 3a 20 63 6f 6d 6d 61 6e 64 73 29 20 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2	C:.commands)....................
65c0	94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80	................................
65e0	e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94	................................
6600	80 e2 94 80 e2 94 80 0a 66 6c 6f 61 74 20 70 61 72 61 6d 5f 73 65 74 70 6f 69 6e 74 20 3d 20 30	........float.param_setpoint.=.0
6620	2e 30 3b 0a 66 6c 6f 61 74 20 70 61 72 61 6d 5f 6b 70 20 20 20 20 20 20 20 3d 20 31 2e 30 3b 0a	.0;.float.param_kp.......=.1.0;.
6640	66 6c 6f 61 74 20 70 61 72 61 6d 5f 6b 69 20 20 20 20 20 20 20 3d 20 30 2e 30 3b 0a 66 6c 6f 61	float.param_ki.......=.0.0;.floa
6660	74 20 70 61 72 61 6d 5f 6b 64 20 20 20 20 20 20 20 3d 20 30 2e 30 3b 0a 69 6e 74 20 20 20 70 61	t.param_kd.......=.0.0;.int...pa
6680	72 61 6d 5f 6d 6f 64 65 20 20 20 20 20 3d 20 30 3b 0a 0a 75 6e 73 69 67 6e 65 64 20 6c 6f 6e 67	ram_mode.....=.0;..unsigned.long
66a0	20 6c 61 73 74 53 65 6e 64 20 3d 20 30 3b 0a 0a 2f 2f 20 e2 94 80 e2 94 80 20 53 65 74 75 70 20	.lastSend.=.0;..//........Setup.
66c0	e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94	................................
66e0	80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2	................................
6700	94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80	................................
6720	e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94	................................
6740	80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2	................................
6760	94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80	................................
6780	e2 94 80 0a 76 6f 69 64 20 73 65 74 75 70 28 29 20 7b 0a 20 20 53 65 72 69 61 6c 2e 62 65 67 69	....void.setup().{...Serial.begi
67a0	6e 28 42 41 55 44 5f 52 41 54 45 29 3b 0a 20 20 66 6f 72 20 28 69 6e 74 20 69 20 3d 20 30 3b 20	n(BAUD_RATE);...for.(int.i.=.0;.
67c0	69 20 3c 20 4e 5f 44 49 47 5f 49 4e 3b 20 20 69 2b 2b 29 20 70 69 6e 4d 6f 64 65 28 44 49 47 49	i.<.N_DIG_IN;..i++).pinMode(DIGI
67e0	54 41 4c 5f 49 4e 5b 69 5d 2c 20 20 49 4e 50 55 54 5f 50 55 4c 4c 55 50 29 3b 0a 20 20 66 6f 72	TAL_IN[i],..INPUT_PULLUP);...for
6800	20 28 69 6e 74 20 69 20 3d 20 30 3b 20 69 20 3c 20 4e 5f 44 49 47 5f 4f 55 54 3b 20 69 2b 2b 29	.(int.i.=.0;.i.<.N_DIG_OUT;.i++)
6820	20 70 69 6e 4d 6f 64 65 28 44 49 47 49 54 41 4c 5f 4f 55 54 5b 69 5d 2c 20 4f 55 54 50 55 54 29	.pinMode(DIGITAL_OUT[i],.OUTPUT)
6840	3b 0a 7d 0a 0a 2f 2f 20 e2 94 80 e2 94 80 20 4d 61 69 6e 20 6c 6f 6f 70 20 e2 94 80 e2 94 80 e2	;.}..//........Main.loop........
6860	94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80	................................
6880	e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94	................................
68a0	80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2	................................
68c0	94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80	................................
68e0	e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94	................................
6900	80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 0a 76 6f 69 64 20 6c 6f 6f 70 28 29 20 7b 0a 20	.................void.loop().{..
6920	20 68 61 6e 64 6c 65 43 6f 6d 6d 61 6e 64 73 28 29 3b 0a 20 20 73 65 6e 64 44 61 74 61 28 29 3b	.handleCommands();...sendData();
6940	0a 7d 0a 0a 2f 2f 20 e2 94 80 e2 94 80 20 43 6f 6d 6d 61 6e 64 20 68 61 6e 64 6c 65 72 20 e2 94	.}..//........Command.handler...
6960	80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2	................................
6980	94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80	................................
69a0	e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94	................................
69c0	80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2	................................
69e0	94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80	................................
6a00	e2 94 80 0a 76 6f 69 64 20 68 61 6e 64 6c 65 43 6f 6d 6d 61 6e 64 73 28 29 20 7b 0a 20 20 69 66	....void.handleCommands().{...if
6a20	20 28 21 53 65 72 69 61 6c 2e 61 76 61 69 6c 61 62 6c 65 28 29 29 20 72 65 74 75 72 6e 3b 0a 0a	.(!Serial.available()).return;..
6a40	20 20 53 74 72 69 6e 67 20 63 6d 64 20 3d 20 53 65 72 69 61 6c 2e 72 65 61 64 53 74 72 69 6e 67	..String.cmd.=.Serial.readString
6a60	55 6e 74 69 6c 28 27 5c 6e 27 29 3b 0a 20 20 63 6d 64 2e 74 72 69 6d 28 29 3b 0a 20 20 69 66 20	Until('\n');...cmd.trim();...if.
6a80	28 63 6d 64 2e 6c 65 6e 67 74 68 28 29 20 3d 3d 20 30 29 20 72 65 74 75 72 6e 3b 0a 0a 20 20 63	(cmd.length().==.0).return;....c
6aa0	68 61 72 20 74 79 70 65 20 3d 20 63 6d 64 2e 63 68 61 72 41 74 28 30 29 3b 0a 0a 20 20 2f 2f 20	har.type.=.cmd.charAt(0);....//.
6ac0	57 3a 44 78 78 3a 76 61 6c 20 20 e2 80 94 20 64 69 67 69 74 61 6c 20 77 72 69 74 65 0a 20 20 69	W:Dxx:val......digital.write...i
6ae0	66 20 28 74 79 70 65 20 3d 3d 20 27 57 27 29 20 7b 0a 20 20 20 20 69 6e 74 20 63 31 20 3d 20 63	f.(type.==.'W').{.....int.c1.=.c
6b00	6d 64 2e 69 6e 64 65 78 4f 66 28 27 3a 27 2c 20 32 29 3b 0a 20 20 20 20 69 66 20 28 63 31 20 3c	md.indexOf(':',.2);.....if.(c1.<
6b20	20 30 29 20 7b 20 53 65 72 69 61 6c 2e 70 72 69 6e 74 6c 6e 28 22 45 52 52 3a 42 61 64 20 57 20	.0).{.Serial.println("ERR:Bad.W.
6b40	66 6f 72 6d 61 74 22 29 3b 20 72 65 74 75 72 6e 3b 20 7d 0a 20 20 20 20 53 74 72 69 6e 67 20 70	format");.return;.}.....String.p
6b60	69 6e 53 74 72 20 3d 20 63 6d 64 2e 73 75 62 73 74 72 69 6e 67 28 32 2c 20 63 31 29 3b 0a 20 20	inStr.=.cmd.substring(2,.c1);...
6b80	20 20 69 6e 74 20 20 20 20 76 61 6c 20 20 20 20 3d 20 63 6d 64 2e 73 75 62 73 74 72 69 6e 67 28	..int....val....=.cmd.substring(
6ba0	63 31 20 2b 20 31 29 2e 74 6f 49 6e 74 28 29 3b 0a 20 20 20 20 69 6e 74 20 20 20 20 70 69 6e 20	c1.+.1).toInt();.....int....pin.
6bc0	20 20 20 3d 20 70 69 6e 53 74 72 2e 73 75 62 73 74 72 69 6e 67 28 31 29 2e 74 6f 49 6e 74 28 29	...=.pinStr.substring(1).toInt()
6be0	3b 20 20 2f 2f 20 73 74 72 69 70 20 27 44 27 0a 20 20 20 20 64 69 67 69 74 61 6c 57 72 69 74 65	;..//.strip.'D'.....digitalWrite
6c00	28 70 69 6e 2c 20 76 61 6c 20 3f 20 48 49 47 48 20 3a 20 4c 4f 57 29 3b 0a 20 20 20 20 53 65 72	(pin,.val.?.HIGH.:.LOW);.....Ser
6c20	69 61 6c 2e 70 72 69 6e 74 28 22 41 43 4b 3a 22 29 3b 20 53 65 72 69 61 6c 2e 70 72 69 6e 74 6c	ial.print("ACK:");.Serial.printl
6c40	6e 28 63 6d 64 29 3b 0a 20 20 7d 0a 0a 20 20 2f 2f 20 50 3a 44 78 78 3a 64 75 74 79 20 20 e2 80	n(cmd);...}....//.P:Dxx:duty....
6c60	94 20 50 57 4d 20 77 72 69 74 65 20 28 30 2d 32 35 35 29 0a 20 20 65 6c 73 65 20 69 66 20 28 74	..PWM.write.(0-255)...else.if.(t
6c80	79 70 65 20 3d 3d 20 27 50 27 29 20 7b 0a 20 20 20 20 69 6e 74 20 63 31 20 3d 20 63 6d 64 2e 69	ype.==.'P').{.....int.c1.=.cmd.i
6ca0	6e 64 65 78 4f 66 28 27 3a 27 2c 20 32 29 3b 0a 20 20 20 20 69 66 20 28 63 31 20 3c 20 30 29 20	ndexOf(':',.2);.....if.(c1.<.0).
6cc0	7b 20 53 65 72 69 61 6c 2e 70 72 69 6e 74 6c 6e 28 22 45 52 52 3a 42 61 64 20 50 20 66 6f 72 6d	{.Serial.println("ERR:Bad.P.form
6ce0	61 74 22 29 3b 20 72 65 74 75 72 6e 3b 20 7d 0a 20 20 20 20 69 6e 74 20 70 69 6e 20 20 3d 20 63	at");.return;.}.....int.pin..=.c
6d00	6d 64 2e 73 75 62 73 74 72 69 6e 67 28 32 2c 20 63 31 29 2e 73 75 62 73 74 72 69 6e 67 28 31 29	md.substring(2,.c1).substring(1)
6d20	2e 74 6f 49 6e 74 28 29 3b 0a 20 20 20 20 69 6e 74 20 64 75 74 79 20 3d 20 63 6f 6e 73 74 72 61	.toInt();.....int.duty.=.constra
6d40	69 6e 28 63 6d 64 2e 73 75 62 73 74 72 69 6e 67 28 63 31 20 2b 20 31 29 2e 74 6f 49 6e 74 28 29	in(cmd.substring(c1.+.1).toInt()
6d60	2c 20 30 2c 20 32 35 35 29 3b 0a 20 20 20 20 61 6e 61 6c 6f 67 57 72 69 74 65 28 70 69 6e 2c 20	,.0,.255);.....analogWrite(pin,.
6d80	64 75 74 79 29 3b 0a 20 20 20 20 53 65 72 69 61 6c 2e 70 72 69 6e 74 28 22 41 43 4b 3a 22 29 3b	duty);.....Serial.print("ACK:");
6da0	20 53 65 72 69 61 6c 2e 70 72 69 6e 74 6c 6e 28 63 6d 64 29 3b 0a 20 20 7d 0a 0a 20 20 2f 2f 20	.Serial.println(cmd);...}....//.
6dc0	43 3a 4e 41 4d 45 3a 76 61 6c 75 65 20 20 e2 80 94 20 73 65 74 20 6e 61 6d 65 64 20 70 61 72 61	C:NAME:value......set.named.para
6de0	6d 65 74 65 72 0a 20 20 65 6c 73 65 20 69 66 20 28 74 79 70 65 20 3d 3d 20 27 43 27 29 20 7b 0a	meter...else.if.(type.==.'C').{.
6e00	20 20 20 20 69 6e 74 20 63 31 20 3d 20 63 6d 64 2e 69 6e 64 65 78 4f 66 28 27 3a 27 2c 20 32 29	....int.c1.=.cmd.indexOf(':',.2)
6e20	3b 0a 20 20 20 20 69 6e 74 20 63 32 20 3d 20 63 6d 64 2e 69 6e 64 65 78 4f 66 28 27 3a 27 2c 20	;.....int.c2.=.cmd.indexOf(':',.
6e40	63 31 20 2b 20 31 29 3b 0a 20 20 20 20 69 66 20 28 63 31 20 3c 20 30 20 7c 7c 20 63 32 20 3c 20	c1.+.1);.....if.(c1.<.0.||.c2.<.
6e60	30 29 20 7b 20 53 65 72 69 61 6c 2e 70 72 69 6e 74 6c 6e 28 22 45 52 52 3a 42 61 64 20 43 20 66	0).{.Serial.println("ERR:Bad.C.f
6e80	6f 72 6d 61 74 22 29 3b 20 72 65 74 75 72 6e 3b 20 7d 0a 20 20 20 20 53 74 72 69 6e 67 20 6e 61	ormat");.return;.}.....String.na
6ea0	6d 65 20 3d 20 63 6d 64 2e 73 75 62 73 74 72 69 6e 67 28 32 2c 20 63 31 29 3b 0a 20 20 20 20 66	me.=.cmd.substring(2,.c1);.....f
6ec0	6c 6f 61 74 20 20 76 61 6c 20 20 3d 20 63 6d 64 2e 73 75 62 73 74 72 69 6e 67 28 63 32 20 2b 20	loat..val..=.cmd.substring(c2.+.
6ee0	31 29 2e 74 6f 46 6c 6f 61 74 28 29 3b 0a 20 20 20 20 69 66 20 20 20 20 20 20 28 6e 61 6d 65 20	1).toFloat();.....if......(name.
6f00	3d 3d 20 22 53 45 54 50 4f 49 4e 54 22 29 20 70 61 72 61 6d 5f 73 65 74 70 6f 69 6e 74 20 3d 20	==."SETPOINT").param_setpoint.=.
6f20	76 61 6c 3b 0a 20 20 20 20 65 6c 73 65 20 69 66 20 28 6e 61 6d 65 20 3d 3d 20 22 4b 50 22 29 20	val;.....else.if.(name.==."KP").
6f40	20 20 20 20 20 20 70 61 72 61 6d 5f 6b 70 20 20 20 20 20 20 20 3d 20 76 61 6c 3b 0a 20 20 20 20	......param_kp.......=.val;.....
6f60	65 6c 73 65 20 69 66 20 28 6e 61 6d 65 20 3d 3d 20 22 4b 49 22 29 20 20 20 20 20 20 20 70 61 72	else.if.(name.==."KI").......par
6f80	61 6d 5f 6b 69 20 20 20 20 20 20 20 3d 20 76 61 6c 3b 0a 20 20 20 20 65 6c 73 65 20 69 66 20 28	am_ki.......=.val;.....else.if.(
6fa0	6e 61 6d 65 20 3d 3d 20 22 4b 44 22 29 20 20 20 20 20 20 20 70 61 72 61 6d 5f 6b 64 20 20 20 20	name.==."KD").......param_kd....
6fc0	20 20 20 3d 20 76 61 6c 3b 0a 20 20 20 20 65 6c 73 65 20 69 66 20 28 6e 61 6d 65 20 3d 3d 20 22	...=.val;.....else.if.(name.==."
6fe0	4d 4f 44 45 22 29 20 20 20 20 20 70 61 72 61 6d 5f 6d 6f 64 65 20 20 20 20 20 3d 20 28 69 6e 74	MODE").....param_mode.....=.(int
7000	29 76 61 6c 3b 0a 20 20 20 20 2f 2f 20 41 64 64 20 79 6f 75 72 20 6f 77 6e 20 70 61 72 61 6d 65	)val;.....//.Add.your.own.parame
7020	74 65 72 73 20 68 65 72 65 3a 0a 20 20 20 20 2f 2f 20 65 6c 73 65 20 69 66 20 28 6e 61 6d 65 20	ters.here:.....//.else.if.(name.
7040	3d 3d 20 22 53 50 45 45 44 22 29 20 6d 6f 74 6f 72 5f 73 70 65 65 64 20 3d 20 76 61 6c 3b 0a 20	==."SPEED").motor_speed.=.val;..
7060	20 20 20 53 65 72 69 61 6c 2e 70 72 69 6e 74 28 22 41 43 4b 3a 22 29 3b 20 53 65 72 69 61 6c 2e	...Serial.print("ACK:");.Serial.
7080	70 72 69 6e 74 6c 6e 28 63 6d 64 29 3b 0a 20 20 7d 0a 0a 20 20 2f 2f 20 51 3a 4e 41 4d 45 20 20	println(cmd);...}....//.Q:NAME..
70a0	e2 80 94 20 69 6d 6d 65 64 69 61 74 65 20 71 75 65 72 79 0a 20 20 65 6c 73 65 20 69 66 20 28 74	....immediate.query...else.if.(t
70c0	79 70 65 20 3d 3d 20 27 51 27 29 20 7b 0a 20 20 20 20 53 74 72 69 6e 67 20 6e 61 6d 65 20 3d 20	ype.==.'Q').{.....String.name.=.
70e0	63 6d 64 2e 73 75 62 73 74 72 69 6e 67 28 32 29 3b 0a 20 20 20 20 69 66 20 20 20 20 20 20 28 6e	cmd.substring(2);.....if......(n
7100	61 6d 65 20 3d 3d 20 22 53 45 54 50 4f 49 4e 54 22 29 20 7b 20 53 65 72 69 61 6c 2e 70 72 69 6e	ame.==."SETPOINT").{.Serial.prin
7120	74 28 22 53 45 54 50 4f 49 4e 54 3a 22 29 3b 20 53 65 72 69 61 6c 2e 70 72 69 6e 74 6c 6e 28 70	t("SETPOINT:");.Serial.println(p
7140	61 72 61 6d 5f 73 65 74 70 6f 69 6e 74 2c 20 33 29 3b 20 7d 0a 20 20 20 20 65 6c 73 65 20 69 66	aram_setpoint,.3);.}.....else.if
7160	20 28 6e 61 6d 65 20 3d 3d 20 22 4b 50 22 29 20 20 20 20 20 20 20 7b 20 53 65 72 69 61 6c 2e 70	.(name.==."KP").......{.Serial.p
7180	72 69 6e 74 28 22 4b 50 3a 22 29 3b 20 20 20 20 20 20 20 53 65 72 69 61 6c 2e 70 72 69 6e 74 6c	rint("KP:");.......Serial.printl
71a0	6e 28 70 61 72 61 6d 5f 6b 70 2c 20 34 29 3b 20 7d 0a 20 20 20 20 65 6c 73 65 20 7b 0a 20 20 20	n(param_kp,.4);.}.....else.{....
71c0	20 20 20 2f 2f 20 54 72 79 20 74 6f 20 72 65 61 64 20 61 73 20 61 6e 61 6c 6f 67 20 70 69 6e 20	...//.Try.to.read.as.analog.pin.
71e0	20 51 3a 41 30 0a 20 20 20 20 20 20 69 66 20 28 6e 61 6d 65 2e 63 68 61 72 41 74 28 30 29 20 3d	.Q:A0.......if.(name.charAt(0).=
7200	3d 20 27 41 27 29 20 7b 0a 20 20 20 20 20 20 20 20 69 6e 74 20 70 69 6e 20 3d 20 6e 61 6d 65 2e	=.'A').{.........int.pin.=.name.
7220	73 75 62 73 74 72 69 6e 67 28 31 29 2e 74 6f 49 6e 74 28 29 3b 0a 20 20 20 20 20 20 20 20 66 6c	substring(1).toInt();.........fl
7240	6f 61 74 20 76 20 3d 20 61 6e 61 6c 6f 67 52 65 61 64 28 70 69 6e 29 20 2a 20 28 35 2e 30 20 2f	oat.v.=.analogRead(pin).*.(5.0./
7260	20 31 30 32 33 2e 30 29 3b 0a 20 20 20 20 20 20 20 20 53 65 72 69 61 6c 2e 70 72 69 6e 74 28 6e	.1023.0);.........Serial.print(n
7280	61 6d 65 29 3b 20 53 65 72 69 61 6c 2e 70 72 69 6e 74 28 22 3a 22 29 3b 20 53 65 72 69 61 6c 2e	ame);.Serial.print(":");.Serial.
72a0	70 72 69 6e 74 6c 6e 28 76 2c 20 33 29 3b 0a 20 20 20 20 20 20 7d 0a 20 20 20 20 7d 0a 20 20 7d	println(v,.3);.......}.....}...}
72c0	0a 0a 20 20 2f 2f 20 52 3a 41 4c 4c 20 20 e2 80 94 20 73 65 6e 64 20 66 75 6c 6c 20 66 72 61 6d	....//.R:ALL......send.full.fram
72e0	65 20 69 6d 6d 65 64 69 61 74 65 6c 79 0a 20 20 65 6c 73 65 20 69 66 20 28 74 79 70 65 20 3d 3d	e.immediately...else.if.(type.==
7300	20 27 52 27 29 20 7b 0a 20 20 20 20 73 65 6e 64 46 72 61 6d 65 28 29 3b 0a 20 20 7d 0a 0a 20 20	.'R').{.....sendFrame();...}....
7320	2f 2f 20 58 3a 53 54 4f 50 20 2f 20 58 3a 52 45 53 45 54 20 20 e2 80 94 20 65 6d 65 72 67 65 6e	//.X:STOP./.X:RESET......emergen
7340	63 79 20 73 74 6f 70 0a 20 20 65 6c 73 65 20 69 66 20 28 74 79 70 65 20 3d 3d 20 27 58 27 29 20	cy.stop...else.if.(type.==.'X').
7360	7b 0a 20 20 20 20 53 74 72 69 6e 67 20 73 75 62 20 3d 20 63 6d 64 2e 73 75 62 73 74 72 69 6e 67	{.....String.sub.=.cmd.substring
7380	28 32 29 3b 0a 20 20 20 20 66 6f 72 20 28 69 6e 74 20 69 20 3d 20 30 3b 20 69 20 3c 20 4e 5f 44	(2);.....for.(int.i.=.0;.i.<.N_D
73a0	49 47 5f 4f 55 54 3b 20 69 2b 2b 29 20 64 69 67 69 74 61 6c 57 72 69 74 65 28 44 49 47 49 54 41	IG_OUT;.i++).digitalWrite(DIGITA
73c0	4c 5f 4f 55 54 5b 69 5d 2c 20 4c 4f 57 29 3b 0a 20 20 20 20 53 65 72 69 61 6c 2e 70 72 69 6e 74	L_OUT[i],.LOW);.....Serial.print
73e0	28 22 41 43 4b 3a 22 29 3b 20 53 65 72 69 61 6c 2e 70 72 69 6e 74 6c 6e 28 63 6d 64 29 3b 0a 20	("ACK:");.Serial.println(cmd);..
7400	20 7d 0a 0a 20 20 65 6c 73 65 20 7b 0a 20 20 20 20 53 65 72 69 61 6c 2e 70 72 69 6e 74 28 22 45	.}....else.{.....Serial.print("E
7420	52 52 3a 55 6e 6b 6e 6f 77 6e 20 63 6f 6d 6d 61 6e 64 3a 20 22 29 3b 20 53 65 72 69 61 6c 2e 70	RR:Unknown.command:.");.Serial.p
7440	72 69 6e 74 6c 6e 28 63 6d 64 29 3b 0a 20 20 7d 0a 7d 0a 0a 2f 2f 20 e2 94 80 e2 94 80 20 44 61	rintln(cmd);...}.}..//........Da
7460	74 61 20 73 65 6e 64 65 72 20 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2	ta.sender.......................
7480	94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80	................................
74a0	e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94	................................
74c0	80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2	................................
74e0	94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80	................................
7500	e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 0a 76 6f 69 64	............................void
7520	20 73 65 6e 64 44 61 74 61 28 29 20 7b 0a 20 20 69 66 20 28 6d 69 6c 6c 69 73 28 29 20 2d 20 6c	.sendData().{...if.(millis().-.l
7540	61 73 74 53 65 6e 64 20 3c 20 53 45 4e 44 5f 49 4e 54 45 52 56 41 4c 29 20 72 65 74 75 72 6e 3b	astSend.<.SEND_INTERVAL).return;
7560	0a 20 20 6c 61 73 74 53 65 6e 64 20 3d 20 6d 69 6c 6c 69 73 28 29 3b 0a 20 20 73 65 6e 64 46 72	...lastSend.=.millis();...sendFr
7580	61 6d 65 28 29 3b 0a 7d 0a 0a 76 6f 69 64 20 73 65 6e 64 46 72 61 6d 65 28 29 20 7b 0a 20 20 53	ame();.}..void.sendFrame().{...S
75a0	74 72 69 6e 67 20 6f 75 74 20 3d 20 22 22 3b 0a 20 20 62 6f 6f 6c 20 66 69 72 73 74 20 3d 20 74	tring.out.=."";...bool.first.=.t
75c0	72 75 65 3b 0a 20 20 2f 2f 20 41 6e 61 6c 6f 67 20 69 6e 70 75 74 73 20 e2 80 94 20 63 6f 6e 76	rue;...//.Analog.inputs.....conv
75e0	65 72 74 65 64 20 74 6f 20 30 2e 30 e2 80 93 35 2e 30 20 56 0a 20 20 66 6f 72 20 28 69 6e 74 20	erted.to.0.0...5.0.V...for.(int.
7600	69 20 3d 20 30 3b 20 69 20 3c 20 4e 5f 41 4e 41 4c 4f 47 3b 20 69 2b 2b 29 20 7b 0a 20 20 20 20	i.=.0;.i.<.N_ANALOG;.i++).{.....
7620	66 6c 6f 61 74 20 76 20 3d 20 61 6e 61 6c 6f 67 52 65 61 64 28 41 4e 41 4c 4f 47 5f 50 49 4e 53	float.v.=.analogRead(ANALOG_PINS
7640	5b 69 5d 29 20 2a 20 28 35 2e 30 20 2f 20 31 30 32 33 2e 30 29 3b 0a 20 20 20 20 69 66 20 28 21	[i]).*.(5.0./.1023.0);.....if.(!
7660	66 69 72 73 74 29 20 6f 75 74 20 2b 3d 20 22 2c 22 3b 0a 20 20 20 20 6f 75 74 20 2b 3d 20 22 41	first).out.+=.",";.....out.+=."A
7680	22 20 2b 20 53 74 72 69 6e 67 28 69 29 20 2b 20 22 3a 22 20 2b 20 53 74 72 69 6e 67 28 76 2c 20	".+.String(i).+.":".+.String(v,.
76a0	33 29 3b 0a 20 20 20 20 66 69 72 73 74 20 3d 20 66 61 6c 73 65 3b 0a 20 20 7d 0a 20 20 2f 2f 20	3);.....first.=.false;...}...//.
76c0	44 69 67 69 74 61 6c 20 69 6e 70 75 74 73 20 28 49 4e 50 55 54 5f 50 55 4c 4c 55 50 20 e2 80 94	Digital.inputs.(INPUT_PULLUP....
76e0	20 69 6e 76 65 72 74 20 73 6f 20 70 72 65 73 73 65 64 3d 31 29 0a 20 20 2f 2f 20 54 68 65 73 65	.invert.so.pressed=1)...//.These
7700	20 73 68 61 72 65 20 74 68 65 20 73 61 6d 65 20 6f 75 74 70 75 74 20 6c 69 6e 65 20 61 73 20 61	.share.the.same.output.line.as.a
7720	6e 61 6c 6f 67 20 e2 80 94 20 6f 6e 65 20 6c 69 6e 65 20 70 65 72 20 66 72 61 6d 65 2e 0a 20 20	nalog.....one.line.per.frame....
7740	66 6f 72 20 28 69 6e 74 20 69 20 3d 20 30 3b 20 69 20 3c 20 4e 5f 44 49 47 5f 49 4e 3b 20 69 2b	for.(int.i.=.0;.i.<.N_DIG_IN;.i+
7760	2b 29 20 7b 0a 20 20 20 20 69 66 20 28 21 66 69 72 73 74 29 20 6f 75 74 20 2b 3d 20 22 2c 22 3b	+).{.....if.(!first).out.+=.",";
7780	0a 20 20 20 20 6f 75 74 20 2b 3d 20 22 44 22 20 2b 20 53 74 72 69 6e 67 28 44 49 47 49 54 41 4c	.....out.+=."D".+.String(DIGITAL
77a0	5f 49 4e 5b 69 5d 29 20 2b 20 22 3a 22 20 2b 20 53 74 72 69 6e 67 28 21 64 69 67 69 74 61 6c 52	_IN[i]).+.":".+.String(!digitalR
77c0	65 61 64 28 44 49 47 49 54 41 4c 5f 49 4e 5b 69 5d 29 29 3b 0a 20 20 20 20 66 69 72 73 74 20 3d	ead(DIGITAL_IN[i]));.....first.=
77e0	20 66 61 6c 73 65 3b 0a 20 20 7d 0a 20 20 53 65 72 69 61 6c 2e 70 72 69 6e 74 6c 6e 28 6f 75 74	.false;...}...Serial.println(out
7800	29 3b 0a 20 20 2f 2f 20 45 78 61 6d 70 6c 65 20 63 6f 6d 62 69 6e 65 64 20 6f 75 74 70 75 74 3a	);...//.Example.combined.output:
7820	20 41 30 3a 33 2e 31 34 32 2c 44 32 3a 30 2c 44 33 3a 31 0a 7d 0a 29 13 da 07 5f 5f 64 6f 63 5f	.A0:3.142,D2:0,D3:1.}.)...__doc_
7840	5f 72 b0 00 00 00 72 b3 00 00 00 72 d7 00 00 00 72 2b 00 00 00 72 42 00 00 00 da 06 74 79 70 69	_r....r....r....r+...rB.....typi
7860	6e 67 72 03 00 00 00 72 04 00 00 00 72 05 00 00 00 72 06 00 00 00 72 07 00 00 00 72 08 00 00 00	ngr....r....r....r....r....r....
7880	72 48 00 00 00 da 17 73 65 72 69 61 6c 2e 74 6f 6f 6c 73 2e 6c 69 73 74 5f 70 6f 72 74 73 72 46	rH.....serial.tools.list_portsrF
78a0	00 00 00 da 0b 49 6d 70 6f 72 74 45 72 72 6f 72 72 0a 00 00 00 da 10 41 52 44 55 49 4e 4f 5f 46	.....ImportErrorr......ARDUINO_F
78c0	49 52 4d 57 41 52 45 72 f1 00 00 00 72 5b 00 00 00 72 3a 00 00 00 fa 08 3c 6d 6f 64 75 6c 65 3e	IRMWAREr....r[...r:.....<module>
78e0	72 05 01 00 00 01 00 00 00 73 63 00 00 00 f0 03 01 01 01 f1 02 37 01 04 f3 72 01 00 01 0c db 00	r........sc..........7...r......
7900	0d db 00 0b db 00 10 db 00 0b df 00 3d d7 00 3d f0 06 05 01 1e db 04 11 db 04 22 d8 18 1c d0 04	............=..=..........".....
7920	15 f7 0a 77 06 01 40 01 f1 00 77 06 01 40 01 f0 7c 0d 67 02 14 04 d1 00 10 f8 f0 45 0e 00 08 13	...w..@...w..@..|.g........E....
7940	f2 00 01 01 1e d8 18 1d d2 04 15 f0 03 01 01 1e fa 73 0f 00 00 00 a8 0a 3f 00 bf 07 41 09 03 c1	.................s......?...A...
7960	08 01 41 09 03	..A..