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68a0	12 08 05 2d 98 53 f0 00 08 05 2d a8 03 f0 00 08 05 2d b0 04 f3 00 08 05 2d f0 14 02 05 3b a0 13	...-.S....-......-......-....;..
68c0	f0 00 02 05 3b a8 35 f0 00 02 05 3b b0 54 f3 00 02 05 3b f0 08 07 05 34 a0 23 f0 00 07 05 34 b0	....;.5....;.T....;....4.#....4.
68e0	05 f0 00 07 05 34 b8 24 f3 00 07 05 34 f0 12 08 05 33 a0 43 f0 00 08 05 33 b0 03 f0 00 08 05 33	.....4.$....4....3.C....3......3
6900	b8 04 f3 00 08 05 33 f0 14 09 05 2f a0 23 f0 00 09 05 2f a8 63 f0 00 09 05 2f b0 64 f3 00 09 05	......3..../.#..../.c..../.d....
6920	2f f0 16 06 05 27 a0 23 f0 00 06 05 27 a8 24 f3 00 06 05 27 f0 10 02 05 23 98 74 f3 00 02 05 23	/....'.#....'.$....'....#.t....#
6940	f0 08 02 05 24 a0 04 f3 00 02 05 24 f0 08 02 05 25 98 74 f3 00 02 05 25 f0 0c 00 22 26 d8 21 25	....$......$....%.t....%..."&.!%
6960	d8 21 25 f1 09 28 05 14 e0 15 19 98 23 91 59 f0 05 28 05 14 f0 06 00 16 1a 98 23 91 59 f0 07 28	.!%..(......#.Y..(........#.Y..(
6980	05 14 f0 08 00 16 1a 98 23 91 59 f0 09 28 05 14 f0 0a 00 0a 0e f3 0b 28 05 14 f0 58 01 08 05 2e	........#.Y..(.........(...X....
69a0	98 13 f0 00 08 05 2e a0 53 f0 00 08 05 2e a8 54 f3 00 08 05 2e f0 18 02 05 2d 98 78 a8 13 a8 05	........S......T.........-.x....
69c0	a8 74 a8 0b d1 1f 34 f3 00 02 05 2d f0 08 02 05 2d a0 18 a8 33 a8 25 b0 14 a8 2b d1 21 36 f3 00	.t....4....-....-...3.%...+.!6..
69e0	02 05 2d f0 0c 0c 05 19 98 53 f0 00 0c 05 19 a0 54 f3 00 0c 05 19 f2 20 1f 05 20 f2 42 01 0c 05	..-......S......T...........B...
6a00	1d f0 1c 15 05 15 a8 33 f3 00 15 05 15 f0 32 1d 05 2b a0 13 f3 00 1d 05 2b f0 3e 4c 01 05 16 a0	.......3......2..+......+.>L....
6a20	03 f0 00 4c 01 05 16 a8 04 a8 53 b0 25 a8 5a d1 28 38 f3 00 4c 01 05 16 f0 5c 02 00 06 0e f0 02	...L......S.%.Z.(8..L....\......
6a40	03 05 39 98 34 f2 00 03 05 39 f3 03 00 06 0e f0 02 03 05 39 f0 0e 00 06 12 f0 02 0a 05 16 98 04	..9.4....9.........9............
6a60	98 55 a0 33 a8 03 a0 38 99 5f d1 18 2d f2 00 0a 05 16 f3 03 00 06 12 f0 02 0a 05 16 f0 18 00 06	.U.3...8._..-...................
6a80	12 f0 02 01 05 21 a0 34 f2 00 01 05 21 f3 03 00 06 12 f0 02 01 05 21 f3 06 02 05 40 01 72 5f 00	.....!.4....!.........!....@.r_.
6aa0	00 00 72 0a 00 00 00 75 fb 22 00 00 0a 2f 2a 0a 20 2a 20 4c 61 62 44 41 51 20 41 72 64 75 69 6e	..r....u.".../*..*.LabDAQ.Arduin
6ac0	6f 20 46 69 72 6d 77 61 72 65 20 76 31 2e 31 0a 20 2a 20 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2	o.Firmware.v1.1..*..............
6ae0	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	................................
6b00	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	................................
6b20	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	................................
6b40	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	................................
6b60	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	................................
6b80	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	................................
6ba0	94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 0a 20 2a 20 55 70 6c 6f 61 64 20 74 68 69 73 20 73 6b	................*.Upload.this.sk
6bc0	65 74 63 68 20 74 6f 20 79 6f 75 72 20 41 72 64 75 69 6e 6f 2e 0a 20 2a 20 53 65 74 20 62 61 75	etch.to.your.Arduino...*.Set.bau
6be0	64 20 72 61 74 65 20 74 6f 20 31 31 35 32 30 30 20 69 6e 20 62 6f 74 68 20 74 68 69 73 20 73 6b	d.rate.to.115200.in.both.this.sk
6c00	65 74 63 68 20 61 6e 64 20 4c 61 62 44 41 51 2e 0a 20 2a 0a 20 2a 20 57 48 41 54 20 49 54 20 44	etch.and.LabDAQ...*..*.WHAT.IT.D
6c20	4f 45 53 0a 20 2a 20 20 20 43 6f 6e 74 69 6e 75 6f 75 73 6c 79 20 73 74 72 65 61 6d 73 20 61 6e	OES..*...Continuously.streams.an
6c40	61 6c 6f 67 20 2b 20 64 69 67 69 74 61 6c 20 72 65 61 64 69 6e 67 73 20 74 6f 20 74 68 65 20 50	alog.+.digital.readings.to.the.P
6c60	43 2e 0a 20 2a 20 20 20 4c 69 73 74 65 6e 73 20 66 6f 72 20 63 6f 6d 6d 61 6e 64 73 20 66 72 6f	C...*...Listens.for.commands.fro
6c80	6d 20 74 68 65 20 50 43 20 61 6e 64 20 65 78 65 63 75 74 65 73 20 74 68 65 6d 2e 0a 20 2a 0a 20	m.the.PC.and.executes.them...*..
6ca0	2a 20 52 45 43 45 49 56 45 44 20 43 4f 4d 4d 41 4e 44 53 20 28 50 43 20 e2 86 92 20 41 72 64 75	*.RECEIVED.COMMANDS.(PC.....Ardu
6cc0	69 6e 6f 29 3a 0a 20 2a 20 20 20 57 3a 44 31 33 3a 31 20 20 20 20 20 20 20 20 20 20 64 69 67 69	ino):..*...W:D13:1..........digi
6ce0	74 61 6c 57 72 69 74 65 28 31 33 2c 20 48 49 47 48 29 0a 20 2a 20 20 20 57 3a 44 36 3a 30 20 20	talWrite(13,.HIGH)..*...W:D6:0..
6d00	20 20 20 20 20 20 20 20 20 64 69 67 69 74 61 6c 57 72 69 74 65 28 36 2c 20 20 4c 4f 57 29 0a 20	.........digitalWrite(6,..LOW)..
6d20	2a 20 20 20 50 3a 44 39 3a 31 32 38 20 20 20 20 20 20 20 20 20 61 6e 61 6c 6f 67 57 72 69 74 65	*...P:D9:128.........analogWrite
6d40	28 39 2c 20 31 32 38 29 20 20 20 e2 86 92 20 7e 35 30 25 20 50 57 4d 0a 20 2a 20 20 20 43 3a 53	(9,.128).......~50%.PWM..*...C:S
6d60	45 54 50 4f 49 4e 54 3a 37 35 2e 30 20 20 73 74 6f 72 65 20 6e 61 6d 65 64 20 70 61 72 61 6d 65	ETPOINT:75.0..store.named.parame
6d80	74 65 72 0a 20 2a 20 20 20 51 3a 41 30 20 20 20 20 20 20 20 20 20 20 20 20 20 72 65 70 6c 79 20	ter..*...Q:A0.............reply.
6da0	69 6d 6d 65 64 69 61 74 65 6c 79 20 77 69 74 68 20 41 30 20 72 65 61 64 69 6e 67 0a 20 2a 20 20	immediately.with.A0.reading..*..
6dc0	20 52 3a 41 4c 4c 20 20 20 20 20 20 20 20 20 20 20 20 73 65 6e 64 20 66 75 6c 6c 20 64 61 74 61	.R:ALL............send.full.data
6de0	20 66 72 61 6d 65 20 69 6d 6d 65 64 69 61 74 65 6c 79 0a 20 2a 20 20 20 58 3a 53 54 4f 50 20 20	.frame.immediately..*...X:STOP..
6e00	20 20 20 20 20 20 20 20 20 73 65 74 20 61 6c 6c 20 6f 75 74 70 75 74 73 20 4c 4f 57 0a 20 2a 20	.........set.all.outputs.LOW..*.
6e20	20 20 58 3a 52 45 53 45 54 20 20 20 20 20 20 20 20 20 20 72 65 73 65 74 20 74 6f 20 64 65 66 61	..X:RESET..........reset.to.defa
6e40	75 6c 74 73 0a 20 2a 0a 20 2a 20 53 45 4e 54 20 44 41 54 41 20 28 41 72 64 75 69 6e 6f 20 e2 86	ults..*..*.SENT.DATA.(Arduino...
6e60	92 20 50 43 29 3a 0a 20 2a 20 20 20 41 30 3a 33 2e 31 34 32 2c 41 31 3a 30 2e 30 31 35 2c 44 32	..PC):..*...A0:3.142,A1:0.015,D2
6e80	3a 30 2c 44 33 3a 31 5c 6e 20 20 20 20 20 28 65 76 65 72 79 20 53 45 4e 44 5f 49 4e 54 45 52 56	:0,D3:1\n.....(every.SEND_INTERV
6ea0	41 4c 20 6d 73 29 0a 20 2a 20 20 20 41 43 4b 3a 57 3a 44 31 33 3a 31 5c 6e 20 20 20 20 20 20 20	AL.ms)..*...ACK:W:D13:1\n.......
6ec0	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 28 61 66 74 65 72 20 65 61 63 68 20 63 6f 6d 6d	................(after.each.comm
6ee0	61 6e 64 29 0a 20 2a 20 20 20 45 52 52 3a 55 6e 6b 6e 6f 77 6e 20 63 6f 6d 6d 61 6e 64 5c 6e 20	and)..*...ERR:Unknown.command\n.
6f00	20 20 20 20 20 20 20 20 20 20 20 20 20 20 28 6f 6e 20 70 61 72 73 65 20 66 61 69 6c 75 72 65 29	..............(on.parse.failure)
6f20	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 80 e2	..*.............................
6f40	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	................................
6f60	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	................................
6f80	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	................................
6fa0	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	................................
6fc0	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	................................
6fe0	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 0a	................................
7000	20 2a 2f 0a 0a 2f 2f 20 e2 94 80 e2 94 80 20 43 6f 6e 66 69 67 75 72 61 74 69 6f 6e 20 e2 94 80	.*/..//........Configuration....
7020	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	................................
7040	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	................................
7060	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	................................
7080	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	................................
70a0	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	................................
70c0	94 80 e2 94 80 e2 94 80 0a 69 6e 74 20 41 4e 41 4c 4f 47 5f 50 49 4e 53 5b 36 5d 20 20 3d 20 7b	.........int.ANALOG_PINS[6]..=.{
70e0	41 30 2c 20 41 31 2c 20 41 32 2c 20 41 33 2c 20 41 34 2c 20 41 35 7d 3b 20 2f 2f 20 61 63 74 75	A0,.A1,.A2,.A3,.A4,.A5};.//.actu
7100	61 6c 20 70 69 6e 20 6e 75 6d 62 65 72 73 20 28 72 65 63 6f 6e 66 69 67 75 72 65 64 20 62 79 20	al.pin.numbers.(reconfigured.by.
7120	41 50 49 4e 3a 29 0a 69 6e 74 20 41 4e 41 4c 4f 47 5f 49 44 58 5b 36 5d 20 20 20 3d 20 7b 30 2c	APIN:).int.ANALOG_IDX[6]...=.{0,
7140	20 31 2c 20 32 2c 20 33 2c 20 34 2c 20 35 7d 3b 20 20 20 20 20 20 20 20 2f 2f 20 6c 61 62 65 6c	.1,.2,.3,.4,.5};........//.label
7160	20 69 6e 64 69 63 65 73 20 75 73 65 64 20 69 6e 20 6f 75 74 70 75 74 20 28 41 30 2c 20 41 31 2c	.indices.used.in.output.(A0,.A1,
7180	20 e2 80 a6 29 0a 69 6e 74 20 44 49 47 49 54 41 4c 5f 49 4e 5b 31 36 5d 20 20 3d 20 7b 32 2c 20	....).int.DIGITAL_IN[16]..=.{2,.
71a0	33 2c 20 34 7d 3b 20 20 20 2f 2f 20 72 65 63 6f 6e 66 69 67 75 72 65 64 20 61 74 20 72 75 6e 74	3,.4};...//.reconfigured.at.runt
71c0	69 6d 65 20 76 69 61 20 44 50 49 4e 3a 49 4e 3a 0a 69 6e 74 20 44 49 47 49 54 41 4c 5f 4f 55 54	ime.via.DPIN:IN:.int.DIGITAL_OUT
71e0	5b 31 36 5d 20 3d 20 7b 35 2c 20 36 2c 20 37 2c 20 39 2c 20 31 30 2c 20 31 31 7d 3b 20 20 20 2f	[16].=.{5,.6,.7,.9,.10,.11};.../
7200	2f 20 72 65 63 6f 6e 66 69 67 75 72 65 64 20 76 69 61 20 44 50 49 4e 3a 4f 55 54 3a 0a 69 6e 74	/.reconfigured.via.DPIN:OUT:.int
7220	20 4e 5f 41 4e 41 4c 4f 47 20 20 20 20 20 20 20 20 3d 20 30 3b 20 20 20 20 2f 2f 20 73 65 74 20	.N_ANALOG........=.0;....//.set.
7240	62 79 20 41 50 49 4e 3a 20 63 6f 6d 6d 61 6e 64 20 28 30 20 3d 20 69 6e 61 63 74 69 76 65 20 75	by.APIN:.command.(0.=.inactive.u
7260	6e 74 69 6c 20 63 6f 6e 66 69 67 75 72 65 64 20 62 79 20 50 43 29 0a 69 6e 74 20 4e 5f 44 49 47	ntil.configured.by.PC).int.N_DIG
7280	5f 49 4e 20 20 20 20 20 20 20 20 3d 20 30 3b 20 20 20 20 2f 2f 20 73 65 74 20 62 79 20 44 50 49	_IN........=.0;....//.set.by.DPI
72a0	4e 3a 49 4e 3a 20 63 6f 6d 6d 61 6e 64 20 28 30 20 3d 20 69 6e 61 63 74 69 76 65 20 75 6e 74 69	N:IN:.command.(0.=.inactive.unti
72c0	6c 20 63 6f 6e 66 69 67 75 72 65 64 29 0a 69 6e 74 20 4e 5f 44 49 47 5f 4f 55 54 20 20 20 20 20	l.configured).int.N_DIG_OUT.....
72e0	20 20 3d 20 30 3b 20 20 20 20 2f 2f 20 73 65 74 20 62 79 20 44 50 49 4e 3a 4f 55 54 3a 20 63 6f	..=.0;....//.set.by.DPIN:OUT:.co
7300	6d 6d 61 6e 64 20 28 30 20 3d 20 69 6e 61 63 74 69 76 65 20 75 6e 74 69 6c 20 63 6f 6e 66 69 67	mmand.(0.=.inactive.until.config
7320	75 72 65 64 29 0a 63 6f 6e 73 74 20 69 6e 74 20 53 45 4e 44 5f 49 4e 54 45 52 56 41 4c 20 20 3d	ured).const.int.SEND_INTERVAL..=
7340	20 35 30 3b 20 20 20 2f 2f 20 6d 73 20 62 65 74 77 65 65 6e 20 64 61 74 61 20 66 72 61 6d 65 73	.50;...//.ms.between.data.frames
7360	20 28 35 30 20 3d 20 32 30 20 48 7a 29 0a 63 6f 6e 73 74 20 6c 6f 6e 67 20 42 41 55 44 5f 52 41	.(50.=.20.Hz).const.long.BAUD_RA
7380	54 45 20 20 20 20 20 3d 20 31 31 35 32 30 30 3b 0a 0a 2f 2f 20 e2 94 80 e2 94 80 20 4e 61 6d 65	TE.....=.115200;..//........Name
73a0	64 20 70 61 72 61 6d 65 74 65 72 73 20 28 73 65 74 20 76 69 61 20 43 3a 20 63 6f 6d 6d 61 6e 64	d.parameters.(set.via.C:.command
73c0	73 29 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 80 e2 94	s)..............................
73e0	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	................................
7400	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 0a 66 6c	..............................fl
7420	6f 61 74 20 70 61 72 61 6d 5f 73 65 74 70 6f 69 6e 74 20 3d 20 30 2e 30 3b 0a 66 6c 6f 61 74 20	oat.param_setpoint.=.0.0;.float.
7440	70 61 72 61 6d 5f 6b 70 20 20 20 20 20 20 20 3d 20 31 2e 30 3b 0a 66 6c 6f 61 74 20 70 61 72 61	param_kp.......=.1.0;.float.para
7460	6d 5f 6b 69 20 20 20 20 20 20 20 3d 20 30 2e 30 3b 0a 66 6c 6f 61 74 20 70 61 72 61 6d 5f 6b 64	m_ki.......=.0.0;.float.param_kd
7480	20 20 20 20 20 20 20 3d 20 30 2e 30 3b 0a 69 6e 74 20 20 20 70 61 72 61 6d 5f 6d 6f 64 65 20 20	.......=.0.0;.int...param_mode..
74a0	20 20 20 3d 20 30 3b 0a 0a 75 6e 73 69 67 6e 65 64 20 6c 6f 6e 67 20 6c 61 73 74 53 65 6e 64 20	...=.0;..unsigned.long.lastSend.
74c0	3d 20 30 3b 0a 0a 2f 2f 20 e2 94 80 e2 94 80 20 53 65 74 75 70 20 e2 94 80 e2 94 80 e2 94 80 e2	=.0;..//........Setup...........
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 e2 94 80 e2 94	................................
7520	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	................................
7540	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	................................
7560	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	................................
7580	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 20 73	..........................void.s
75a0	65 74 75 70 28 29 20 7b 0a 20 20 53 65 72 69 61 6c 2e 62 65 67 69 6e 28 42 41 55 44 5f 52 41 54	etup().{...Serial.begin(BAUD_RAT
75c0	45 29 3b 0a 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 49 47 5f	E);...for.(int.i.=.0;.i.<.N_DIG_
75e0	49 4e 3b 20 20 69 2b 2b 29 20 70 69 6e 4d 6f 64 65 28 44 49 47 49 54 41 4c 5f 49 4e 5b 69 5d 2c	IN;..i++).pinMode(DIGITAL_IN[i],
7600	20 20 49 4e 50 55 54 5f 50 55 4c 4c 55 50 29 3b 0a 20 20 66 6f 72 20 28 69 6e 74 20 69 20 3d 20	..INPUT_PULLUP);...for.(int.i.=.
7620	30 3b 20 69 20 3c 20 4e 5f 44 49 47 5f 4f 55 54 3b 20 69 2b 2b 29 20 70 69 6e 4d 6f 64 65 28 44	0;.i.<.N_DIG_OUT;.i++).pinMode(D
7640	49 47 49 54 41 4c 5f 4f 55 54 5b 69 5d 2c 20 4f 55 54 50 55 54 29 3b 0a 7d 0a 0a 2f 2f 20 e2 94	IGITAL_OUT[i],.OUTPUT);.}..//...
7660	80 e2 94 80 20 4d 61 69 6e 20 6c 6f 6f 70 20 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94	.....Main.loop..................
7680	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	................................
76a0	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	................................
76c0	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	................................
76e0	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	................................
7700	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	................................
7720	e2 94 80 e2 94 80 0a 76 6f 69 64 20 6c 6f 6f 70 28 29 20 7b 0a 20 20 68 61 6e 64 6c 65 43 6f 6d	.......void.loop().{...handleCom
7740	6d 61 6e 64 73 28 29 3b 0a 20 20 73 65 6e 64 44 61 74 61 28 29 3b 0a 7d 0a 0a 2f 2f 20 e2 94 80	mands();...sendData();.}..//....
7760	e2 94 80 20 43 6f 6d 6d 61 6e 64 20 68 61 6e 64 6c 65 72 20 e2 94 80 e2 94 80 e2 94 80 e2 94 80	....Command.handler.............
7780	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	................................
77a0	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	................................
77c0	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	................................
77e0	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	................................
7800	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 20 68	..........................void.h
7820	61 6e 64 6c 65 43 6f 6d 6d 61 6e 64 73 28 29 20 7b 0a 20 20 69 66 20 28 21 53 65 72 69 61 6c 2e	andleCommands().{...if.(!Serial.
7840	61 76 61 69 6c 61 62 6c 65 28 29 29 20 72 65 74 75 72 6e 3b 0a 0a 20 20 53 74 72 69 6e 67 20 63	available()).return;....String.c
7860	6d 64 20 3d 20 53 65 72 69 61 6c 2e 72 65 61 64 53 74 72 69 6e 67 55 6e 74 69 6c 28 27 5c 6e 27	md.=.Serial.readStringUntil('\n'
7880	29 3b 0a 20 20 63 6d 64 2e 74 72 69 6d 28 29 3b 0a 20 20 69 66 20 28 63 6d 64 2e 6c 65 6e 67 74	);...cmd.trim();...if.(cmd.lengt
78a0	68 28 29 20 3d 3d 20 30 29 20 72 65 74 75 72 6e 3b 0a 0a 20 20 63 68 61 72 20 74 79 70 65 20 3d	h().==.0).return;....char.type.=
78c0	20 63 6d 64 2e 63 68 61 72 41 74 28 30 29 3b 0a 0a 20 20 2f 2f 20 57 3a 44 78 78 3a 76 61 6c 20	.cmd.charAt(0);....//.W:Dxx:val.
78e0	20 e2 80 94 20 64 69 67 69 74 61 6c 20 77 72 69 74 65 0a 20 20 69 66 20 28 74 79 70 65 20 3d 3d	.....digital.write...if.(type.==
7900	20 27 57 27 29 20 7b 0a 20 20 20 20 69 6e 74 20 63 31 20 3d 20 63 6d 64 2e 69 6e 64 65 78 4f 66	.'W').{.....int.c1.=.cmd.indexOf
7920	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 7b 20 53 65 72 69	(':',.2);.....if.(c1.<.0).{.Seri
7940	61 6c 2e 70 72 69 6e 74 6c 6e 28 22 45 52 52 3a 42 61 64 20 57 20 66 6f 72 6d 61 74 22 29 3b 20	al.println("ERR:Bad.W.format");.
7960	72 65 74 75 72 6e 3b 20 7d 0a 20 20 20 20 53 74 72 69 6e 67 20 70 69 6e 53 74 72 20 3d 20 63 6d	return;.}.....String.pinStr.=.cm
7980	64 2e 73 75 62 73 74 72 69 6e 67 28 32 2c 20 63 31 29 3b 0a 20 20 20 20 69 6e 74 20 20 20 20 76	d.substring(2,.c1);.....int....v
79a0	61 6c 20 20 20 20 3d 20 63 6d 64 2e 73 75 62 73 74 72 69 6e 67 28 63 31 20 2b 20 31 29 2e 74 6f	al....=.cmd.substring(c1.+.1).to
79c0	49 6e 74 28 29 3b 0a 20 20 20 20 69 6e 74 20 20 20 20 70 69 6e 20 20 20 20 3d 20 70 69 6e 53 74	Int();.....int....pin....=.pinSt
79e0	72 2e 73 75 62 73 74 72 69 6e 67 28 31 29 2e 74 6f 49 6e 74 28 29 3b 20 20 2f 2f 20 73 74 72 69	r.substring(1).toInt();..//.stri
7a00	70 20 27 44 27 0a 20 20 20 20 64 69 67 69 74 61 6c 57 72 69 74 65 28 70 69 6e 2c 20 76 61 6c 20	p.'D'.....digitalWrite(pin,.val.
7a20	3f 20 48 49 47 48 20 3a 20 4c 4f 57 29 3b 0a 20 20 20 20 53 65 72 69 61 6c 2e 70 72 69 6e 74 28	?.HIGH.:.LOW);.....Serial.print(
7a40	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 20	"ACK:");.Serial.println(cmd);...
7a60	7d 0a 0a 20 20 2f 2f 20 50 3a 44 78 78 3a 64 75 74 79 20 20 e2 80 94 20 50 57 4d 20 77 72 69 74	}....//.P:Dxx:duty......PWM.writ
7a80	65 20 28 30 2d 32 35 35 29 0a 20 20 65 6c 73 65 20 69 66 20 28 74 79 70 65 20 3d 3d 20 27 50 27	e.(0-255)...else.if.(type.==.'P'
7aa0	29 20 7b 0a 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	).{.....int.c1.=.cmd.indexOf(':'
7ac0	2c 20 32 29 3b 0a 20 20 20 20 69 66 20 28 63 31 20 3c 20 30 29 20 7b 20 53 65 72 69 61 6c 2e 70	,.2);.....if.(c1.<.0).{.Serial.p
7ae0	72 69 6e 74 6c 6e 28 22 45 52 52 3a 42 61 64 20 50 20 66 6f 72 6d 61 74 22 29 3b 20 72 65 74 75	rintln("ERR:Bad.P.format");.retu
7b00	72 6e 3b 20 7d 0a 20 20 20 20 69 6e 74 20 70 69 6e 20 20 3d 20 63 6d 64 2e 73 75 62 73 74 72 69	rn;.}.....int.pin..=.cmd.substri
7b20	6e 67 28 32 2c 20 63 31 29 2e 73 75 62 73 74 72 69 6e 67 28 31 29 2e 74 6f 49 6e 74 28 29 3b 0a	ng(2,.c1).substring(1).toInt();.
7b40	20 20 20 20 69 6e 74 20 64 75 74 79 20 3d 20 63 6f 6e 73 74 72 61 69 6e 28 63 6d 64 2e 73 75 62	....int.duty.=.constrain(cmd.sub
7b60	73 74 72 69 6e 67 28 63 31 20 2b 20 31 29 2e 74 6f 49 6e 74 28 29 2c 20 30 2c 20 32 35 35 29 3b	string(c1.+.1).toInt(),.0,.255);
7b80	0a 20 20 20 20 61 6e 61 6c 6f 67 57 72 69 74 65 28 70 69 6e 2c 20 64 75 74 79 29 3b 0a 20 20 20	.....analogWrite(pin,.duty);....
7ba0	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 70 72	.Serial.print("ACK:");.Serial.pr
7bc0	69 6e 74 6c 6e 28 63 6d 64 29 3b 0a 20 20 7d 0a 0a 20 20 2f 2f 20 43 3a 4e 41 4d 45 3a 76 61 6c	intln(cmd);...}....//.C:NAME:val
7be0	75 65 20 20 e2 80 94 20 73 65 74 20 6e 61 6d 65 64 20 70 61 72 61 6d 65 74 65 72 0a 20 20 65 6c	ue......set.named.parameter...el
7c00	73 65 20 69 66 20 28 74 79 70 65 20 3d 3d 20 27 43 27 29 20 7b 0a 20 20 20 20 69 6e 74 20 63 31	se.if.(type.==.'C').{.....int.c1
7c20	20 3d 20 63 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 6e 74 20	.=.cmd.indexOf(':',.2);.....int.
7c40	63 32 20 3d 20 63 6d 64 2e 69 6e 64 65 78 4f 66 28 27 3a 27 2c 20 63 31 20 2b 20 31 29 3b 0a 20	c2.=.cmd.indexOf(':',.c1.+.1);..
7c60	20 20 20 69 66 20 28 63 31 20 3c 20 30 20 7c 7c 20 63 32 20 3c 20 30 29 20 7b 20 53 65 72 69 61	...if.(c1.<.0.||.c2.<.0).{.Seria
7c80	6c 2e 70 72 69 6e 74 6c 6e 28 22 45 52 52 3a 42 61 64 20 43 20 66 6f 72 6d 61 74 22 29 3b 20 72	l.println("ERR:Bad.C.format");.r
7ca0	65 74 75 72 6e 3b 20 7d 0a 20 20 20 20 53 74 72 69 6e 67 20 6e 61 6d 65 20 3d 20 63 6d 64 2e 73	eturn;.}.....String.name.=.cmd.s
7cc0	75 62 73 74 72 69 6e 67 28 32 2c 20 63 31 29 3b 0a 20 20 20 20 66 6c 6f 61 74 20 20 76 61 6c 20	ubstring(2,.c1);.....float..val.
7ce0	20 3d 20 63 6d 64 2e 73 75 62 73 74 72 69 6e 67 28 63 32 20 2b 20 31 29 2e 74 6f 46 6c 6f 61 74	.=.cmd.substring(c2.+.1).toFloat
7d00	28 29 3b 0a 20 20 20 20 69 66 20 20 20 20 20 20 28 6e 61 6d 65 20 3d 3d 20 22 53 45 54 50 4f 49	();.....if......(name.==."SETPOI
7d20	4e 54 22 29 20 70 61 72 61 6d 5f 73 65 74 70 6f 69 6e 74 20 3d 20 76 61 6c 3b 0a 20 20 20 20 65	NT").param_setpoint.=.val;.....e
7d40	6c 73 65 20 69 66 20 28 6e 61 6d 65 20 3d 3d 20 22 4b 50 22 29 20 20 20 20 20 20 20 70 61 72 61	lse.if.(name.==."KP").......para
7d60	6d 5f 6b 70 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 6e	m_kp.......=.val;.....else.if.(n
7d80	61 6d 65 20 3d 3d 20 22 4b 49 22 29 20 20 20 20 20 20 20 70 61 72 61 6d 5f 6b 69 20 20 20 20 20	ame.==."KI").......param_ki.....
7da0	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 4b	..=.val;.....else.if.(name.==."K
7dc0	44 22 29 20 20 20 20 20 20 20 70 61 72 61 6d 5f 6b 64 20 20 20 20 20 20 20 3d 20 76 61 6c 3b 0a	D").......param_kd.......=.val;.
7de0	20 20 20 20 65 6c 73 65 20 69 66 20 28 6e 61 6d 65 20 3d 3d 20 22 4d 4f 44 45 22 29 20 20 20 20	....else.if.(name.==."MODE")....
7e00	20 70 61 72 61 6d 5f 6d 6f 64 65 20 20 20 20 20 3d 20 28 69 6e 74 29 76 61 6c 3b 0a 20 20 20 20	.param_mode.....=.(int)val;.....
7e20	2f 2f 20 41 64 64 20 79 6f 75 72 20 6f 77 6e 20 70 61 72 61 6d 65 74 65 72 73 20 68 65 72 65 3a	//.Add.your.own.parameters.here:
7e40	0a 20 20 20 20 2f 2f 20 65 6c 73 65 20 69 66 20 28 6e 61 6d 65 20 3d 3d 20 22 53 50 45 45 44 22	.....//.else.if.(name.==."SPEED"
7e60	29 20 6d 6f 74 6f 72 5f 73 70 65 65 64 20 3d 20 76 61 6c 3b 0a 20 20 20 20 53 65 72 69 61 6c 2e	).motor_speed.=.val;.....Serial.
7e80	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 6e 28 63 6d	print("ACK:");.Serial.println(cm
7ea0	64 29 3b 0a 20 20 7d 0a 0a 20 20 2f 2f 20 51 3a 4e 41 4d 45 20 20 e2 80 94 20 69 6d 6d 65 64 69	d);...}....//.Q:NAME......immedi
7ec0	61 74 65 20 71 75 65 72 79 0a 20 20 65 6c 73 65 20 69 66 20 28 74 79 70 65 20 3d 3d 20 27 51 27	ate.query...else.if.(type.==.'Q'
7ee0	29 20 7b 0a 20 20 20 20 53 74 72 69 6e 67 20 6e 61 6d 65 20 3d 20 63 6d 64 2e 73 75 62 73 74 72	).{.....String.name.=.cmd.substr
7f00	69 6e 67 28 32 29 3b 0a 20 20 20 20 69 66 20 20 20 20 20 20 28 6e 61 6d 65 20 3d 3d 20 22 53 45	ing(2);.....if......(name.==."SE
7f20	54 50 4f 49 4e 54 22 29 20 7b 20 53 65 72 69 61 6c 2e 70 72 69 6e 74 28 22 53 45 54 50 4f 49 4e	TPOINT").{.Serial.print("SETPOIN
7f40	54 3a 22 29 3b 20 53 65 72 69 61 6c 2e 70 72 69 6e 74 6c 6e 28 70 61 72 61 6d 5f 73 65 74 70 6f	T:");.Serial.println(param_setpo
7f60	69 6e 74 2c 20 33 29 3b 20 7d 0a 20 20 20 20 65 6c 73 65 20 69 66 20 28 6e 61 6d 65 20 3d 3d 20	int,.3);.}.....else.if.(name.==.
7f80	22 4b 50 22 29 20 20 20 20 20 20 20 7b 20 53 65 72 69 61 6c 2e 70 72 69 6e 74 28 22 4b 50 3a 22	"KP").......{.Serial.print("KP:"
7fa0	29 3b 20 20 20 20 20 20 20 53 65 72 69 61 6c 2e 70 72 69 6e 74 6c 6e 28 70 61 72 61 6d 5f 6b 70	);.......Serial.println(param_kp
7fc0	2c 20 34 29 3b 20 7d 0a 20 20 20 20 65 6c 73 65 20 7b 0a 20 20 20 20 20 20 2f 2f 20 54 72 79 20	,.4);.}.....else.{.......//.Try.
7fe0	74 6f 20 72 65 61 64 20 61 73 20 61 6e 61 6c 6f 67 20 70 69 6e 20 20 51 3a 41 30 0a 20 20 20 20	to.read.as.analog.pin..Q:A0.....
8000	20 20 69 66 20 28 6e 61 6d 65 2e 63 68 61 72 41 74 28 30 29 20 3d 3d 20 27 41 27 29 20 7b 0a 20	..if.(name.charAt(0).==.'A').{..
8020	20 20 20 20 20 20 20 69 6e 74 20 70 69 6e 20 3d 20 6e 61 6d 65 2e 73 75 62 73 74 72 69 6e 67 28	.......int.pin.=.name.substring(
8040	31 29 2e 74 6f 49 6e 74 28 29 3b 0a 20 20 20 20 20 20 20 20 66 6c 6f 61 74 20 76 20 3d 20 61 6e	1).toInt();.........float.v.=.an
8060	61 6c 6f 67 52 65 61 64 28 70 69 6e 29 20 2a 20 28 35 2e 30 20 2f 20 31 30 32 33 2e 30 29 3b 0a	alogRead(pin).*.(5.0./.1023.0);.
8080	20 20 20 20 20 20 20 20 53 65 72 69 61 6c 2e 70 72 69 6e 74 28 6e 61 6d 65 29 3b 20 53 65 72 69	........Serial.print(name);.Seri
80a0	61 6c 2e 70 72 69 6e 74 28 22 3a 22 29 3b 20 53 65 72 69 61 6c 2e 70 72 69 6e 74 6c 6e 28 76 2c	al.print(":");.Serial.println(v,
80c0	20 33 29 3b 0a 20 20 20 20 20 20 7d 0a 20 20 20 20 7d 0a 20 20 7d 0a 0a 20 20 2f 2f 20 52 3a 41	.3);.......}.....}...}....//.R:A
80e0	4c 4c 20 20 e2 80 94 20 73 65 6e 64 20 66 75 6c 6c 20 66 72 61 6d 65 20 69 6d 6d 65 64 69 61 74	LL......send.full.frame.immediat
8100	65 6c 79 0a 20 20 65 6c 73 65 20 69 66 20 28 74 79 70 65 20 3d 3d 20 27 52 27 29 20 7b 0a 20 20	ely...else.if.(type.==.'R').{...
8120	20 20 73 65 6e 64 46 72 61 6d 65 28 29 3b 0a 20 20 7d 0a 0a 20 20 2f 2f 20 58 3a 53 54 4f 50 20	..sendFrame();...}....//.X:STOP.
8140	2f 20 58 3a 52 45 53 45 54 20 20 e2 80 94 20 65 6d 65 72 67 65 6e 63 79 20 73 74 6f 70 0a 20 20	/.X:RESET......emergency.stop...
8160	65 6c 73 65 20 69 66 20 28 74 79 70 65 20 3d 3d 20 27 58 27 29 20 7b 0a 20 20 20 20 53 74 72 69	else.if.(type.==.'X').{.....Stri
8180	6e 67 20 73 75 62 20 3d 20 63 6d 64 2e 73 75 62 73 74 72 69 6e 67 28 32 29 3b 0a 20 20 20 20 66	ng.sub.=.cmd.substring(2);.....f
81a0	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 4f 55 54 3b 20 69 2b	or.(int.i.=.0;.i.<.N_DIG_OUT;.i+
81c0	2b 29 20 64 69 67 69 74 61 6c 57 72 69 74 65 28 44 49 47 49 54 41 4c 5f 4f 55 54 5b 69 5d 2c 20	+).digitalWrite(DIGITAL_OUT[i],.
81e0	4c 4f 57 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 20	LOW);.....Serial.print("ACK:");.
8200	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 41	Serial.println(cmd);...}....//.A
8220	50 49 4e 3a 30 2c 31 2c 33 20 20 e2 80 94 20 72 65 63 6f 6e 66 69 67 75 72 65 20 61 6e 61 6c 6f	PIN:0,1,3......reconfigure.analo
8240	67 20 69 6e 70 75 74 73 20 61 74 20 72 75 6e 74 69 6d 65 20 28 69 6e 64 69 63 65 73 20 30 e2 80	g.inputs.at.runtime.(indices.0..
8260	93 35 20 69 6e 74 6f 20 41 30 e2 80 93 41 35 29 0a 20 20 65 6c 73 65 20 69 66 20 28 74 79 70 65	.5.into.A0...A5)...else.if.(type
8280	20 3d 3d 20 27 41 27 29 20 7b 0a 20 20 20 20 69 66 20 28 21 63 6d 64 2e 73 74 61 72 74 73 57 69	.==.'A').{.....if.(!cmd.startsWi
82a0	74 68 28 22 41 50 49 4e 3a 22 29 29 20 7b 20 53 65 72 69 61 6c 2e 70 72 69 6e 74 6c 6e 28 22 45	th("APIN:")).{.Serial.println("E
82c0	52 52 3a 42 61 64 20 41 20 63 6f 6d 6d 61 6e 64 22 29 3b 20 72 65 74 75 72 6e 3b 20 7d 0a 20 20	RR:Bad.A.command");.return;.}...
82e0	20 20 53 74 72 69 6e 67 20 70 69 6e 4c 69 73 74 20 3d 20 63 6d 64 2e 73 75 62 73 74 72 69 6e 67	..String.pinList.=.cmd.substring
8300	28 35 29 3b 20 20 20 2f 2f 20 22 30 2c 31 2c 33 22 0a 20 20 20 20 63 6f 6e 73 74 20 69 6e 74 20	(5);...//."0,1,3".....const.int.
8320	5f 41 50 49 4e 53 5b 5d 20 3d 20 7b 41 30 2c 41 31 2c 41 32 2c 41 33 2c 41 34 2c 41 35 7d 3b 0a	_APINS[].=.{A0,A1,A2,A3,A4,A5};.
8340	20 20 20 20 4e 5f 41 4e 41 4c 4f 47 20 3d 20 30 3b 0a 20 20 20 20 69 6e 74 20 73 74 61 72 74 20	....N_ANALOG.=.0;.....int.start.
8360	3d 20 30 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 3d 20 28 69	=.0;.....for.(int.i.=.0;.i.<=.(i
8380	6e 74 29 70 69 6e 4c 69 73 74 2e 6c 65 6e 67 74 68 28 29 3b 20 69 2b 2b 29 20 7b 0a 20 20 20 20	nt)pinList.length();.i++).{.....
83a0	20 20 69 66 20 28 69 20 3d 3d 20 28 69 6e 74 29 70 69 6e 4c 69 73 74 2e 6c 65 6e 67 74 68 28 29	..if.(i.==.(int)pinList.length()
83c0	20 7c 7c 20 70 69 6e 4c 69 73 74 5b 69 5d 20 3d 3d 20 27 2c 27 29 20 7b 0a 20 20 20 20 20 20 20	.||.pinList[i].==.',').{........
83e0	20 53 74 72 69 6e 67 20 74 6f 6b 20 3d 20 70 69 6e 4c 69 73 74 2e 73 75 62 73 74 72 69 6e 67 28	.String.tok.=.pinList.substring(
8400	73 74 61 72 74 2c 20 69 29 3b 20 74 6f 6b 2e 74 72 69 6d 28 29 3b 0a 20 20 20 20 20 20 20 20 69	start,.i);.tok.trim();.........i
8420	66 20 28 74 6f 6b 2e 6c 65 6e 67 74 68 28 29 20 3e 20 30 20 26 26 20 4e 5f 41 4e 41 4c 4f 47 20	f.(tok.length().>.0.&&.N_ANALOG.
8440	3c 20 36 29 20 7b 0a 20 20 20 20 20 20 20 20 20 20 69 6e 74 20 69 64 78 20 3d 20 74 6f 6b 2e 74	<.6).{...........int.idx.=.tok.t
8460	6f 49 6e 74 28 29 3b 0a 20 20 20 20 20 20 20 20 20 20 69 66 20 28 69 64 78 20 3e 3d 20 30 20 26	oInt();...........if.(idx.>=.0.&
8480	26 20 69 64 78 20 3c 20 36 29 20 7b 0a 20 20 20 20 20 20 20 20 20 20 20 20 41 4e 41 4c 4f 47 5f	&.idx.<.6).{.............ANALOG_
84a0	50 49 4e 53 5b 4e 5f 41 4e 41 4c 4f 47 5d 20 3d 20 5f 41 50 49 4e 53 5b 69 64 78 5d 3b 0a 20 20	PINS[N_ANALOG].=._APINS[idx];...
84c0	20 20 20 20 20 20 20 20 20 20 41 4e 41 4c 4f 47 5f 49 44 58 5b 4e 5f 41 4e 41 4c 4f 47 5d 20 20	..........ANALOG_IDX[N_ANALOG]..
84e0	3d 20 69 64 78 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 4e 5f 41 4e 41 4c 4f 47 2b 2b 3b 0a 20	=.idx;.............N_ANALOG++;..
8500	20 20 20 20 20 20 20 20 20 7d 0a 20 20 20 20 20 20 20 20 7d 0a 20 20 20 20 20 20 20 20 73 74 61	.........}.........}.........sta
8520	72 74 20 3d 20 69 20 2b 20 31 3b 0a 20 20 20 20 20 20 7d 0a 20 20 20 20 7d 0a 20 20 20 20 53 65	rt.=.i.+.1;.......}.....}.....Se
8540	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 70 72 69 6e 74	rial.print("ACK:");.Serial.print
8560	6c 6e 28 63 6d 64 29 3b 0a 20 20 7d 0a 0a 20 20 2f 2f 20 44 50 49 4e 3a 49 4e 3a 32 2c 33 2c 38	ln(cmd);...}....//.DPIN:IN:2,3,8
8580	20 20 6f 72 20 20 44 50 49 4e 3a 4f 55 54 3a 35 2c 36 2c 37 20 20 e2 80 94 20 72 65 63 6f 6e 66	..or..DPIN:OUT:5,6,7......reconf
85a0	69 67 75 72 65 20 64 69 67 69 74 61 6c 20 49 2f 4f 20 70 69 6e 73 20 61 74 20 72 75 6e 74 69 6d	igure.digital.I/O.pins.at.runtim
85c0	65 0a 20 20 65 6c 73 65 20 69 66 20 28 74 79 70 65 20 3d 3d 20 27 44 27 29 20 7b 0a 20 20 20 20	e...else.if.(type.==.'D').{.....
85e0	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 3b 0a 20 20	int.c1.=.cmd.indexOf(':',.2);...
8600	20 20 69 6e 74 20 63 32 20 3d 20 28 63 31 20 3e 3d 20 30 29 20 3f 20 63 6d 64 2e 69 6e 64 65 78	..int.c2.=.(c1.>=.0).?.cmd.index
8620	4f 66 28 27 3a 27 2c 20 63 31 20 2b 20 31 29 20 3a 20 2d 31 3b 0a 20 20 20 20 69 66 20 28 63 31	Of(':',.c1.+.1).:.-1;.....if.(c1
8640	20 3c 20 30 20 7c 7c 20 63 32 20 3c 20 30 29 20 7b 20 53 65 72 69 61 6c 2e 70 72 69 6e 74 6c 6e	.<.0.||.c2.<.0).{.Serial.println
8660	28 22 45 52 52 3a 42 61 64 20 44 50 49 4e 20 66 6f 72 6d 61 74 22 29 3b 20 72 65 74 75 72 6e 3b	("ERR:Bad.DPIN.format");.return;
8680	20 7d 0a 20 20 20 20 53 74 72 69 6e 67 20 64 69 72 20 20 20 20 20 3d 20 63 6d 64 2e 73 75 62 73	.}.....String.dir.....=.cmd.subs
86a0	74 72 69 6e 67 28 32 2c 20 63 31 29 3b 20 20 20 20 2f 2f 20 22 49 4e 22 20 6f 72 20 22 4f 55 54	tring(2,.c1);....//."IN".or."OUT
86c0	22 0a 20 20 20 20 53 74 72 69 6e 67 20 70 69 6e 4c 69 73 74 20 3d 20 63 6d 64 2e 73 75 62 73 74	".....String.pinList.=.cmd.subst
86e0	72 69 6e 67 28 63 32 20 2b 20 31 29 3b 20 20 20 2f 2f 20 22 32 2c 33 2c 38 22 0a 20 20 20 20 62	ring(c2.+.1);...//."2,3,8".....b
8700	6f 6f 6c 20 69 73 49 6e 20 3d 20 28 64 69 72 20 3d 3d 20 22 49 4e 22 29 3b 0a 20 20 20 20 69 6e	ool.isIn.=.(dir.==."IN");.....in
8720	74 2a 20 61 72 72 20 20 3d 20 69 73 49 6e 20 3f 20 44 49 47 49 54 41 4c 5f 49 4e 20 20 3a 20 44	t*.arr..=.isIn.?.DIGITAL_IN..:.D
8740	49 47 49 54 41 4c 5f 4f 55 54 3b 0a 20 20 20 20 69 6e 74 2a 20 63 6e 74 20 20 3d 20 69 73 49 6e	IGITAL_OUT;.....int*.cnt..=.isIn
8760	20 3f 20 26 4e 5f 44 49 47 5f 49 4e 20 20 20 3a 20 26 4e 5f 44 49 47 5f 4f 55 54 3b 0a 20 20 20	.?.&N_DIG_IN...:.&N_DIG_OUT;....
8780	20 69 6e 74 20 20 6d 6f 64 65 20 3d 20 69 73 49 6e 20 3f 20 49 4e 50 55 54 5f 50 55 4c 4c 55 50	.int..mode.=.isIn.?.INPUT_PULLUP
87a0	20 3a 20 4f 55 54 50 55 54 3b 0a 20 20 20 20 2a 63 6e 74 20 3d 20 30 3b 0a 20 20 20 20 69 6e 74	.:.OUTPUT;.....*cnt.=.0;.....int
87c0	20 73 74 61 72 74 20 3d 20 30 3b 0a 20 20 20 20 66 6f 72 20 28 69 6e 74 20 69 20 3d 20 30 3b 20	.start.=.0;.....for.(int.i.=.0;.
87e0	69 20 3c 3d 20 28 69 6e 74 29 70 69 6e 4c 69 73 74 2e 6c 65 6e 67 74 68 28 29 3b 20 69 2b 2b 29	i.<=.(int)pinList.length();.i++)
8800	20 7b 0a 20 20 20 20 20 20 69 66 20 28 69 20 3d 3d 20 28 69 6e 74 29 70 69 6e 4c 69 73 74 2e 6c	.{.......if.(i.==.(int)pinList.l
8820	65 6e 67 74 68 28 29 20 7c 7c 20 70 69 6e 4c 69 73 74 5b 69 5d 20 3d 3d 20 27 2c 27 29 20 7b 0a	ength().||.pinList[i].==.',').{.
8840	20 20 20 20 20 20 20 20 53 74 72 69 6e 67 20 74 6f 6b 20 3d 20 70 69 6e 4c 69 73 74 2e 73 75 62	........String.tok.=.pinList.sub
8860	73 74 72 69 6e 67 28 73 74 61 72 74 2c 20 69 29 3b 20 74 6f 6b 2e 74 72 69 6d 28 29 3b 0a 20 20	string(start,.i);.tok.trim();...
8880	20 20 20 20 20 20 69 66 20 28 74 6f 6b 2e 6c 65 6e 67 74 68 28 29 20 3e 20 30 20 26 26 20 2a 63	......if.(tok.length().>.0.&&.*c
88a0	6e 74 20 3c 20 31 36 29 20 7b 0a 20 20 20 20 20 20 20 20 20 20 61 72 72 5b 2a 63 6e 74 5d 20 3d	nt.<.16).{...........arr[*cnt].=
88c0	20 74 6f 6b 2e 74 6f 49 6e 74 28 29 3b 0a 20 20 20 20 20 20 20 20 20 20 70 69 6e 4d 6f 64 65 28	.tok.toInt();...........pinMode(
88e0	61 72 72 5b 2a 63 6e 74 5d 2c 20 6d 6f 64 65 29 3b 0a 20 20 20 20 20 20 20 20 20 20 28 2a 63 6e	arr[*cnt],.mode);...........(*cn
8900	74 29 2b 2b 3b 0a 20 20 20 20 20 20 20 20 7d 0a 20 20 20 20 20 20 20 20 73 74 61 72 74 20 3d 20	t)++;.........}.........start.=.
8920	69 20 2b 20 31 3b 0a 20 20 20 20 20 20 7d 0a 20 20 20 20 7d 0a 20 20 20 20 53 65 72 69 61 6c 2e	i.+.1;.......}.....}.....Serial.
8940	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 6e 28 63 6d	print("ACK:");.Serial.println(cm
8960	64 29 3b 0a 20 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	d);...}....else.{.....Serial.pri
8980	6e 74 28 22 45 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	nt("ERR:Unknown.command:.");.Ser
89a0	69 61 6c 2e 70 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	ial.println(cmd);...}.}..//.....
89c0	94 80 20 44 61 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	...Data.sender..................
89e0	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	................................
8a00	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	................................
8a20	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	................................
8a40	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	................................
8a60	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	................................
8a80	0a 76 6f 69 64 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	.void.sendData().{...if.(millis(
8aa0	29 20 2d 20 6c 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	).-.lastSend.<.SEND_INTERVAL).re
8ac0	74 75 72 6e 3b 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	turn;...lastSend.=.millis();...s
8ae0	65 6e 64 46 72 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	endFrame();.}..void.sendFrame().
8b00	7b 0a 20 20 53 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	{...String.out.=."";...bool.firs
8b20	74 20 3d 20 74 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	t.=.true;...//.Analog.inputs....
8b40	20 63 6f 6e 76 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	.converted.to.0.0...5.0.V...for.
8b60	28 69 6e 74 20 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	(int.i.=.0;.i.<.N_ANALOG;.i++).{
8b80	0a 20 20 20 20 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	.....float.v.=.analogRead(ANALOG
8ba0	5f 50 49 4e 53 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	_PINS[i]).*.(5.0./.1023.0);.....
8bc0	69 66 20 28 21 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	if.(!first).out.+=.",";.....out.
8be0	2b 3d 20 22 41 22 20 2b 20 53 74 72 69 6e 67 28 41 4e 41 4c 4f 47 5f 49 44 58 5b 69 5d 29 20 2b	+=."A".+.String(ANALOG_IDX[i]).+
8c00	20 22 3a 22 20 2b 20 53 74 72 69 6e 67 28 76 2c 20 33 29 3b 0a 20 20 20 20 66 69 72 73 74 20 3d	.":".+.String(v,.3);.....first.=
8c20	20 66 61 6c 73 65 3b 0a 20 20 7d 0a 20 20 2f 2f 20 44 69 67 69 74 61 6c 20 69 6e 70 75 74 73 20	.false;...}...//.Digital.inputs.
8c40	28 49 4e 50 55 54 5f 50 55 4c 4c 55 50 20 e2 80 94 20 69 6e 76 65 72 74 20 73 6f 20 70 72 65 73	(INPUT_PULLUP.....invert.so.pres
8c60	73 65 64 3d 31 29 0a 20 20 2f 2f 20 54 68 65 73 65 20 73 68 61 72 65 20 74 68 65 20 73 61 6d 65	sed=1)...//.These.share.the.same
8c80	20 6f 75 74 70 75 74 20 6c 69 6e 65 20 61 73 20 61 6e 61 6c 6f 67 20 e2 80 94 20 6f 6e 65 20 6c	.output.line.as.analog.....one.l
8ca0	69 6e 65 20 70 65 72 20 66 72 61 6d 65 2e 0a 20 20 66 6f 72 20 28 69 6e 74 20 69 20 3d 20 30 3b	ine.per.frame....for.(int.i.=.0;
8cc0	20 69 20 3c 20 4e 5f 44 49 47 5f 49 4e 3b 20 69 2b 2b 29 20 7b 0a 20 20 20 20 69 66 20 28 21 66	.i.<.N_DIG_IN;.i++).{.....if.(!f
8ce0	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 44 22	irst).out.+=.",";.....out.+=."D"
8d00	20 2b 20 53 74 72 69 6e 67 28 44 49 47 49 54 41 4c 5f 49 4e 5b 69 5d 29 20 2b 20 22 3a 22 20 2b	.+.String(DIGITAL_IN[i]).+.":".+
8d20	20 53 74 72 69 6e 67 28 21 64 69 67 69 74 61 6c 52 65 61 64 28 44 49 47 49 54 41 4c 5f 49 4e 5b	.String(!digitalRead(DIGITAL_IN[
8d40	69 5d 29 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 53	i]));.....first.=.false;...}...S
8d60	65 72 69 61 6c 2e 70 72 69 6e 74 6c 6e 28 6f 75 74 29 3b 0a 20 20 2f 2f 20 45 78 61 6d 70 6c 65	erial.println(out);...//.Example
8d80	20 63 6f 6d 62 69 6e 65 64 20 6f 75 74 70 75 74 3a 20 41 30 3a 33 2e 31 34 32 2c 44 32 3a 30 2c	.combined.output:.A0:3.142,D2:0,
8da0	44 33 3a 31 0a 7d 0a 29 13 da 07 5f 5f 64 6f 63 5f 5f 72 d1 00 00 00 72 d4 00 00 00 72 f5 00 00	D3:1.}.)...__doc__r....r....r...
8dc0	00 72 2e 00 00 00 72 46 00 00 00 da 06 74 79 70 69 6e 67 72 03 00 00 00 72 04 00 00 00 72 05 00	.r....rF.....typingr....r....r..
8de0	00 00 72 06 00 00 00 72 07 00 00 00 72 08 00 00 00 72 4c 00 00 00 da 17 73 65 72 69 61 6c 2e 74	..r....r....r....rL.....serial.t
8e00	6f 6f 6c 73 2e 6c 69 73 74 5f 70 6f 72 74 73 72 4a 00 00 00 da 0b 49 6d 70 6f 72 74 45 72 72 6f	ools.list_portsrJ.....ImportErro
8e20	72 72 0a 00 00 00 da 10 41 52 44 55 49 4e 4f 5f 46 49 52 4d 57 41 52 45 72 9e 00 00 00 72 5f 00	rr......ARDUINO_FIRMWAREr....r_.
8e40	00 00 72 3d 00 00 00 da 08 3c 6d 6f 64 75 6c 65 3e 72 24 01 00 00 01 00 00 00 73 64 00 00 00 f0	..r=.....<module>r$.......sd....
8e60	03 01 01 01 f1 02 41 01 01 04 f3 46 02 00 01 0c db 00 0d db 00 0b db 00 10 db 00 0b df 00 3d d7	......A....F..................=.
8e80	00 3d f0 06 05 01 1e db 04 11 db 04 22 d8 18 1c d0 04 15 f7 0a 64 07 01 40 01 f1 00 64 07 01 40	.=.........."........d..@...d..@
8ea0	01 f0 56 0f 5b 03 14 04 d1 00 10 f8 f0 5f 0f 00 08 13 f2 00 01 01 1e d8 18 1d d2 04 15 f0 03 01	..V.[........_..................
8ec0	01 1e fa 73 0f 00 00 00 a8 0a 3f 00 bf 07 41 09 03 c1 08 01 41 09 03	...s......?...A.....A..