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57a0	00 00 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	..............|.....|.j.........
57c0	00 00 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	..........r.d.n.d.|.j...........
57e0	00 00 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	..........d.|.j.................
5800	00 00 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	......}.d.|...d.|.j.............
5820	00 00 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 da 01 40 7a 0e	........d...S.).N..SIMz.HW:..@z.
5840	3c 41 72 64 75 69 6e 6f 4c 61 79 65 72 20 7a 06 20 70 69 6e 73 3d da 01 3e 29 04 72 1c 00 00 00	<ArduinoLayer.z..pins=..>).r....
5860	72 17 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	r....r....r....).r7.....modes...
5880	00 20 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	...r:.....__repr__z.ArduinoLayer
58a0	2e 5f 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	.__repr__....s@.............u.S.
58c0	14 b7 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	........1.T.Y.Y.K.+H........v.V.
58e0	44 d7 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	D.,<.,<.+=.Q..?..?r[...)...COM3i
5900	00 c2 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	....g.......?NNT).r<...N)...__na
5920	6d 65 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	me__..__module__..__qualname__r'
5940	00 00 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	.....DEFAULT_DIGITAL_PINSrM...re
5960	00 00 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	...r~...r....rf...r;...rP...rV..
5980	00 da 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	...propertyrZ...r]...r....r`...r
59a0	68 00 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	h...ro...rr...rv...r{...r....r..
59c0	00 00 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	..r....r....r....r....r....r....
59e0	72 91 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	r....r....rd...rN...rD...r....r.
5a00	00 00 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	...r....r....r......staticmethod
5a20	72 08 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	r....r....r....r....r....r[...r:
5a40	00 00 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	...r....r....J...s........?.....
5a60	3f d0 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	?......#)."(."%."&."&."&..(./...
5a80	f0 05 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	..(./.......(./.......(./......3
5aa0	91 69 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	.i..(./......3.i..(./.......(./.
5ac0	58 01 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	X."......"...H.............;.d..
5ae0	03 05 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	..;.........;...........C.......
5b00	00 06 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	............%.d.3...:..&....%...
5b20	05 39 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	.9......9.S....9.T....9....-.S..
5b40	08 05 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	..-......-......-....;......;.5.
5b60	00 02 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	...;.T....;....4.#....4......4.$
5b80	f3 00 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	....4....3.C....3......3......3.
5ba0	14 09 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	.../.#..../.c..../.d..../....'.#
5bc0	f0 00 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	....'.$....'....#.t....#....$...
5be0	00 02 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	...$....%.t....%.............S..
5c00	08 05 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	....T.........-.x.....t....4....
5c20	2d f0 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	-....-...3.%...+.!6....-......S.
5c40	00 0c 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	.....T...........B..........3...
5c60	05 15 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	...2..+......+.>L.......L......S
5c80	b0 25 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	.%.Z.(8..L....\........9.4....9.
5ca0	03 00 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	........9.............U.3...8._.
5cc0	18 2d 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	.-........................!.4...
5ce0	05 21 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	.!.........!....@.r[...r....u...
5d00	00 0a 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	../*..*.LabDAQ.Arduino.Firmware.
5d20	76 31 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	v1.1..*.........................
5d40	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	................................
5d60	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	................................
5d80	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	................................
5da0	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	................................
5dc0	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	................................
5de0	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	................................
5e00	e2 94 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	.....*.Upload.this.sketch.to.you
5e20	72 20 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	r.Arduino...*.Set.baud.rate.to.1
5e40	31 35 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	15200.in.both.this.sketch.and.La
5e60	62 44 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	bDAQ...*..*.WHAT.IT.DOES..*...Co
5e80	6e 74 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	ntinuously.streams.analog.+.digi
5ea0	74 61 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	tal.readings.to.the.PC...*...Lis
5ec0	74 65 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	tens.for.commands.from.the.PC.an
5ee0	64 20 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	d.executes.them...*..*.RECEIVED.
5f00	43 4f 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	COMMANDS.(PC.....Arduino):..*...
5f20	57 3a 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	W:D13:1..........digitalWrite(13
5f40	2c 20 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	,.HIGH)..*...W:D6:0...........di
5f60	67 69 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	gitalWrite(6,..LOW)..*...P:D9:12
5f80	38 20 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	8.........analogWrite(9,.128)...
5fa0	e2 86 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	....~50%.PWM..*...C:SETPOINT:75.
5fc0	30 20 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	0..store.named.parameter..*...Q:
5fe0	41 30 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	A0.............reply.immediately
6000	20 77 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	.with.A0.reading..*...R:ALL.....
6020	20 20 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	.......send.full.data.frame.imme
6040	64 69 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	diately..*...X:STOP...........se
6060	74 20 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	t.all.outputs.LOW..*...X:RESET..
6080	20 20 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	........reset.to.defaults..*..*.
60a0	53 45 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	SENT.DATA.(Arduino.....PC):..*..
60c0	20 41 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	.A0:3.142,A1:0.015,D2:0,D3:1\n..
60e0	20 20 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	...(every.SEND_INTERVAL.ms)..*..
6100	20 41 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	.ACK:W:D13:1\n..................
6120	20 20 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	.....(after.each.command)..*...E
6140	52 52 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	RR:Unknown.command\n............
6160	20 20 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	...(on.parse.failure)..*........
6180	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	................................
61a0	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	................................
61c0	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	................................
61e0	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	................................
6200	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	................................
6220	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	................................
6240	94 80 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	......................*/..//....
6260	e2 94 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	....Configuration...............
6280	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	................................
62a0	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	................................
62c0	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	................................
62e0	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	................................
6300	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 63 6f	..............................co
6320	6e 73 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	nst.int.ANALOG_PINS[]..=.{A0,.A1
6340	2c 20 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	,.A2,.A3,.A4,.A5};.const.int.DIG
6360	49 54 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	ITAL_IN[]...=.{2,.3,.4};.const.i
6380	6e 74 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	nt.DIGITAL_OUT[]..=.{5,.6,.7,.9,
63a0	20 31 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	.10,.11};...//.9,10,11.are.PWM-c
63c0	61 70 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	apable.const.int.N_ANALOG.......
63e0	3d 20 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	=.1;....//.....set.to.how.many.a
6400	6e 61 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	nalog.pins.you.use.const.int.N_D
6420	49 47 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	IG_IN.......=.0;....//.....set.t
6440	6f 20 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	o.how.many.digital.inputs.you.us
6460	65 0a 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	e.const.int.N_DIG_OUT......=.6;.
6480	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 64 69 67 69 74 61	...//.....set.to.how.many.digita
64a0	6c 20 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	l.outputs.you.use.const.int.SEND
64c0	5f 49 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	_INTERVAL..=.50;...//.ms.between
64e0	20 64 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	.data.frames.(50.=.20.Hz).const.
6500	6c 6f 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	long.BAUD_RATE.....=.115200;..//
6520	20 e2 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	........Named.parameters.(set.vi
6540	61 20 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	a.C:.commands)..................
6560	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	................................
6580	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	................................
65a0	e2 94 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	..........float.param_setpoint.=
65c0	20 30 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	.0.0;.float.param_kp.......=.1.0
65e0	3b 0a 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	;.float.param_ki.......=.0.0;.fl
6600	6f 61 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	oat.param_kd.......=.0.0;.int...
6620	70 61 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	param_mode.....=.0;..unsigned.lo
6640	6e 67 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	ng.lastSend.=.0;..//........Setu
6660	70 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 80	p...............................
6680	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	................................
66a0	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	................................
66c0	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	................................
66e0	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	................................
6700	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	................................
6720	94 80 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	......void.setup().{...Serial.be
6740	67 69 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	gin(BAUD_RATE);...for.(int.i.=.0
6760	3b 20 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	;.i.<.N_DIG_IN;..i++).pinMode(DI
6780	47 49 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	GITAL_IN[i],..INPUT_PULLUP);...f
67a0	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+
67c0	2b 29 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	+).pinMode(DIGITAL_OUT[i],.OUTPU
67e0	54 29 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	T);.}..//........Main.loop......
6800	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	................................
6820	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	................................
6840	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	................................
6860	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	................................
6880	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	................................
68a0	e2 94 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	...................void.loop().{
68c0	0a 20 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	...handleCommands();...sendData(
68e0	29 3b 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	);.}..//........Command.handler.
6900	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	................................
6920	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	................................
6940	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	................................
6960	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	................................
6980	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	................................
69a0	94 80 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	......void.handleCommands().{...
69c0	69 66 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	if.(!Serial.available()).return;
69e0	0a 0a 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	....String.cmd.=.Serial.readStri
6a00	6e 67 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	ngUntil('\n');...cmd.trim();...i
6a20	66 20 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	f.(cmd.length().==.0).return;...
6a40	20 63 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	.char.type.=.cmd.charAt(0);..../
6a60	2f 20 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	/.W:Dxx:val......digital.write..
6a80	20 69 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	.if.(type.==.'W').{.....int.c1.=
6aa0	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 66 20 28 63 31	.cmd.indexOf(':',.2);.....if.(c1
6ac0	20 3c 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	.<.0).{.Serial.println("ERR:Bad.
6ae0	57 20 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	W.format");.return;.}.....String
6b00	20 70 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	.pinStr.=.cmd.substring(2,.c1);.
6b20	20 20 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	....int....val....=.cmd.substrin
6b40	67 28 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	g(c1.+.1).toInt();.....int....pi
6b60	6e 20 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	n....=.pinStr.substring(1).toInt
6b80	28 29 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	();..//.strip.'D'.....digitalWri
6ba0	74 65 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	te(pin,.val.?.HIGH.:.LOW);.....S
6bc0	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 69 6e	erial.print("ACK:");.Serial.prin
6be0	74 6c 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	tln(cmd);...}....//.P:Dxx:duty..
6c00	e2 80 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	....PWM.write.(0-255)...else.if.
6c20	28 74 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	(type.==.'P').{.....int.c1.=.cmd
6c40	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 20 30	.indexOf(':',.2);.....if.(c1.<.0
6c60	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 50 20 66 6f	).{.Serial.println("ERR:Bad.P.fo
6c80	72 6d 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	rmat");.return;.}.....int.pin..=
6ca0	20 63 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	.cmd.substring(2,.c1).substring(
6cc0	31 29 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	1).toInt();.....int.duty.=.const
6ce0	72 61 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	rain(cmd.substring(c1.+.1).toInt
6d00	28 29 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	(),.0,.255);.....analogWrite(pin
6d20	2c 20 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	,.duty);.....Serial.print("ACK:"
6d40	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 7d 0a 0a 20 20 2f	);.Serial.println(cmd);...}..../
6d60	2f 20 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	/.C:NAME:value......set.named.pa
6d80	72 61 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	rameter...else.if.(type.==.'C').
6da0	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 2c 20	{.....int.c1.=.cmd.indexOf(':',.
6dc0	32 29 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	2);.....int.c2.=.cmd.indexOf(':'
6de0	2c 20 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	,.c1.+.1);.....if.(c1.<.0.||.c2.
6e00	3c 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 43	<.0).{.Serial.println("ERR:Bad.C
6e20	20 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	.format");.return;.}.....String.
6e40	6e 61 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	name.=.cmd.substring(2,.c1);....
6e60	20 66 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	.float..val..=.cmd.substring(c2.
6e80	2b 20 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	+.1).toFloat();.....if......(nam
6ea0	65 20 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	e.==."SETPOINT").param_setpoint.
6ec0	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 50 22	=.val;.....else.if.(name.==."KP"
6ee0	29 20 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	).......param_kp.......=.val;...
6f00	20 20 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	..else.if.(name.==."KI").......p
6f20	61 72 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	aram_ki.......=.val;.....else.if
6f40	20 28 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	.(name.==."KD").......param_kd..
6f60	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 61 6d 65 20 3d 3d	.....=.val;.....else.if.(name.==
6f80	20 22 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	."MODE").....param_mode.....=.(i
6fa0	6e 74 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	nt)val;.....//.Add.your.own.para
6fc0	6d 65 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	meters.here:.....//.else.if.(nam
6fe0	65 20 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	e.==."SPEED").motor_speed.=.val;
7000	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 53 65 72 69 61	.....Serial.print("ACK:");.Seria
7020	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 51 3a 4e 41 4d 45	l.println(cmd);...}....//.Q:NAME
7040	20 20 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	......immediate.query...else.if.
7060	28 74 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	(type.==.'Q').{.....String.name.
7080	3d 20 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	=.cmd.substring(2);.....if......
70a0	28 6e 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	(name.==."SETPOINT").{.Serial.pr
70c0	69 6e 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	int("SETPOINT:");.Serial.println
70e0	28 70 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	(param_setpoint,.3);.}.....else.
7100	69 66 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	if.(name.==."KP").......{.Serial
7120	2e 70 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	.print("KP:");.......Serial.prin
7140	74 6c 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	tln(param_kp,.4);.}.....else.{..
7160	20 20 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	.....//.Try.to.read.as.analog.pi
7180	6e 20 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	n..Q:A0.......if.(name.charAt(0)
71a0	20 3d 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	.==.'A').{.........int.pin.=.nam
71c0	65 2e 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	e.substring(1).toInt();.........
71e0	66 6c 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	float.v.=.analogRead(pin).*.(5.0
7200	20 2f 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	./.1023.0);.........Serial.print
7220	28 6e 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	(name);.Serial.print(":");.Seria
7240	6c 2e 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	l.println(v,.3);.......}.....}..
7260	20 7d 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	.}....//.R:ALL......send.full.fr
7280	61 6d 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	ame.immediately...else.if.(type.
72a0	3d 3d 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	==.'R').{.....sendFrame();...}..
72c0	20 20 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	..//.X:STOP./.X:RESET......emerg
72e0	65 6e 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	ency.stop...else.if.(type.==.'X'
7300	29 20 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	).{.....String.sub.=.cmd.substri
7320	6e 67 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	ng(2);.....for.(int.i.=.0;.i.<.N
7340	5f 44 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	_DIG_OUT;.i++).digitalWrite(DIGI
7360	54 41 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	TAL_OUT[i],.LOW);.....Serial.pri
7380	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 64 29 3b	nt("ACK:");.Serial.println(cmd);
73a0	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 6e 74 28	...}....else.{.....Serial.print(
73c0	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 69 61 6c	"ERR:Unknown.command:.");.Serial
73e0	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 94 80 20	.println(cmd);...}.}..//........
7400	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 80 e2 94	Data.sender.....................
7420	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	................................
7440	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	................................
7460	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	................................
7480	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	................................
74a0	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 76 6f	..............................vo
74c0	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 29 20 2d	id.sendData().{...if.(millis().-
74e0	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 74 75 72	.lastSend.<.SEND_INTERVAL).retur
7500	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 65 6e 64	n;...lastSend.=.millis();...send
7520	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 7b 0a 20	Frame();.}..void.sendFrame().{..
7540	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 74 20 3d	.String.out.=."";...bool.first.=
7560	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 20 63 6f	.true;...//.Analog.inputs.....co
7580	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 28 69 6e	nverted.to.0.0...5.0.V...for.(in
75a0	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 0a 20 20	t.i.=.0;.i.<.N_ANALOG;.i++).{...
75c0	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 5f 50 49	..float.v.=.analogRead(ANALOG_PI
75e0	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 69 66 20	NS[i]).*.(5.0./.1023.0);.....if.
7600	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 2b 3d 20	(!first).out.+=.",";.....out.+=.
7620	22 41 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	"A".+.String(i).+.":".+.String(v
7640	2c 20 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	,.3);.....first.=.false;...}.../
7660	2f 20 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	/.Digital.inputs.(INPUT_PULLUP..
7680	80 94 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	...invert.so.pressed=1)...//.The
76a0	73 65 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	se.share.the.same.output.line.as
76c0	20 61 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	.analog.....one.line.per.frame..
76e0	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 49 4e 3b 20	..for.(int.i.=.0;.i.<.N_DIG_IN;.
7700	69 2b 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	i++).{.....if.(!first).out.+=.",
7720	22 3b 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	";.....out.+=."D".+.String(DIGIT
7740	41 4c 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	AL_IN[i]).+.":".+.String(!digita
7760	6c 52 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	lRead(DIGITAL_IN[i]));.....first
7780	20 3d 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	.=.false;...}...Serial.println(o
77a0	75 74 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	ut);...//.Example.combined.outpu
77c0	74 3a 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	t:.A0:3.142,D2:0,D3:1.}.)...__do
77e0	63 5f 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	c__r....r....r....r+...rB.....ty
7800	70 69 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	pingr....r....r....r....r....r..
7820	00 00 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	..rH.....serial.tools.list_ports
7840	72 46 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	rF.....ImportErrorr......ARDUINO
7860	5f 46 49 52 4d 57 41 52 45 72 f1 00 00 00 72 5b 00 00 00 72 3a 00 00 00 da 08 3c 6d 6f 64 75 6c	_FIRMWAREr....r[...r:.....<modul
7880	65 3e 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	e>r........sc..........7...r....
78a0	db 00 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	..............=..=.........."...
78c0	d0 04 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	.....w..@...w..@..|.g........E..
78e0	08 13 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	...................s......?...A.
7900	03 c1 08 01 41 09 03	....A..