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7aa0	00 72 0f 00 00 00 29 02 72 36 00 00 00 da 04 6d 6f 64 65 73 02 00 00 00 26 20 72 18 00 00 00 da	.r....).r6.....modes....&.r.....
7ac0	08 5f 5f 72 65 70 72 5f 5f da 15 41 72 64 75 69 6e 6f 4c 61 79 65 72 2e 5f 5f 72 65 70 72 5f 5f	.__repr__..ArduinoLayer.__repr__
7ae0	36 02 00 00 73 42 00 00 00 80 00 d8 18 1c 9f 0d 9f 0d 98 0d 89 75 a8 53 b0 14 b7 19 b1 19 b0 0b	6...sB...............u.S........
7b00	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 2c 3c d1 2c 3c	.1.T.Y.Y.K.+H........v.V.D.,<.,<
7b20	d0 2b 3d b8 51 d0 0f 3f d0 08 3f 72 1b 00 00 00 29 13 72 29 00 00 00 72 31 00 00 00 72 28 00 00	.+=.Q..?..?r....).r)...r1...r(..
7b40	00 72 32 00 00 00 72 30 00 00 00 72 2c 00 00 00 72 1b 01 00 00 72 2d 00 00 00 72 27 00 00 00 72	.r2...r0...r,...r....r-...r'...r
7b60	35 00 00 00 72 34 00 00 00 72 2f 00 00 00 72 2e 00 00 00 72 0f 00 00 00 72 0d 00 00 00 72 10 00	5...r4...r/...r....r....r....r..
7b80	00 00 72 0c 00 00 00 72 11 00 00 00 72 0e 00 00 00 29 06 da 02 41 30 da 02 41 31 da 02 41 32 da	..r....r....r....)...A0..A1..A2.
7ba0	02 41 33 da 02 41 34 da 02 41 35 29 06 da 02 44 32 da 02 44 33 da 02 44 34 da 02 44 35 da 02 44	.A3..A4..A5)...D2..D3..D4..D5..D
7bc0	36 da 02 44 37 29 03 72 56 01 00 00 72 57 01 00 00 72 58 01 00 00 29 06 72 59 01 00 00 72 5a 01	6..D7).rV...rW...rX...).rY...rZ.
7be0	00 00 72 5b 01 00 00 da 02 44 39 da 03 44 31 30 da 03 44 31 31 29 06 da 04 43 4f 4d 33 69 00 c2	..r[.....D9..D10..D11)...COM3i..
7c00	01 00 72 ca 00 00 00 4e 4e 54 29 03 4e 4e 4e 29 2a da 08 5f 5f 6e 61 6d 65 5f 5f da 0a 5f 5f 6d	..r....NNT).NNN)*..__name__..__m
7c20	6f 64 75 6c 65 5f 5f da 0c 5f 5f 71 75 61 6c 6e 61 6d 65 5f 5f da 0f 5f 5f 66 69 72 73 74 6c 69	odule__..__qualname__..__firstli
7c40	6e 65 6e 6f 5f 5f 72 26 00 00 00 da 14 44 45 46 41 55 4c 54 5f 44 49 47 49 54 41 4c 5f 50 49 4e	neno__r&.....DEFAULT_DIGITAL_PIN
7c60	53 da 0f 44 45 46 41 55 4c 54 5f 44 49 5f 50 49 4e 53 da 0f 44 45 46 41 55 4c 54 5f 44 4f 5f 50	S..DEFAULT_DI_PINS..DEFAULT_DO_P
7c80	49 4e 53 72 39 00 00 00 72 52 00 00 00 72 5b 00 00 00 da 08 70 72 6f 70 65 72 74 79 72 61 00 00	INSr9...rR...r[.....propertyra..
7ca0	00 72 66 00 00 00 72 6b 00 00 00 72 75 00 00 00 72 7d 00 00 00 72 83 00 00 00 72 89 00 00 00 72	.rf...rk...ru...r}...r....r....r
7cc0	8f 00 00 00 72 94 00 00 00 72 99 00 00 00 72 9d 00 00 00 72 a1 00 00 00 72 a5 00 00 00 72 d2 00	....r....r....r....r....r....r..
7ce0	00 00 72 d7 00 00 00 72 df 00 00 00 72 e4 00 00 00 72 73 00 00 00 72 50 00 00 00 72 47 00 00 00	..r....r....r....rs...rP...rG...
7d00	72 eb 00 00 00 72 f6 00 00 00 72 15 01 00 00 72 3b 01 00 00 da 0c 73 74 61 74 69 63 6d 65 74 68	r....r....r....r;.....staticmeth
7d20	6f 64 72 40 01 00 00 72 47 01 00 00 72 4e 01 00 00 da 15 5f 5f 73 74 61 74 69 63 5f 61 74 74 72	odr@...rG...rN.....__static_attr
7d40	69 62 75 74 65 73 5f 5f da 11 5f 5f 63 6c 61 73 73 64 69 63 74 63 65 6c 6c 5f 5f 29 01 72 17 00	ibutes__..__classdictcell__).r..
7d60	00 00 73 01 00 00 00 40 72 18 00 00 00 72 09 00 00 00 72 09 00 00 00 54 00 00 00 73 78 01 00 00	..s....@r....r....r....T...sx...
7d80	f8 87 00 80 00 e2 1b 3f d0 04 17 da 1b 3f d0 04 18 e2 1b 2d 80 4f da 1b 41 80 4f f7 04 28 05 2f	.......?.....?.....-.O..A.O..(./
7da0	f2 00 28 05 2f f7 58 01 22 05 14 f0 00 22 05 14 f7 48 01 0c 05 20 f0 00 0c 05 20 f0 1c 00 06 0e	..(./.X."...."...H..............
7dc0	f7 02 03 05 3b f3 03 00 06 0e f0 02 03 05 3b f0 0a 00 06 0e f7 02 01 05 20 f3 03 00 06 0e f0 02	....;.........;.................
7de0	01 05 20 f7 0a 03 05 25 f0 00 03 05 25 f7 0e 07 05 39 f0 00 07 05 39 f7 12 08 05 2d f0 00 08 05	.......%....%....9....9....-....
7e00	2d f7 14 02 05 3b f0 00 02 05 3b f7 08 07 05 34 f0 00 07 05 34 f7 12 08 05 33 f0 00 08 05 33 f7	-....;....;....4....4....3....3.
7e20	14 09 05 2f f0 00 09 05 2f f7 16 06 05 27 f0 00 06 05 27 f7 10 02 05 23 f0 00 02 05 23 f7 08 02	.../..../....'....'....#....#...
7e40	05 24 f0 00 02 05 24 f7 08 02 05 25 f0 00 02 05 25 f7 08 28 05 14 f2 00 28 05 14 f7 58 01 08 05	.$....$....%....%..(....(...X...
7e60	2e f0 00 08 05 2e f7 18 02 05 2d f0 00 02 05 2d f7 08 02 05 2d f0 00 02 05 2d f7 0c 0c 05 19 f0	..........-....-....-....-......
7e80	00 0c 05 19 f2 20 1f 05 20 f2 42 01 0c 05 1d f7 1c 15 05 15 f0 00 15 05 15 f7 32 1d 05 2b f0 00	..........B...............2..+..
7ea0	1d 05 2b f7 3e 4c 01 05 16 f0 00 4c 01 05 16 f0 5c 02 00 06 0e f7 02 03 05 39 f3 03 00 06 0e f0	..+.>L.....L....\........9......
7ec0	02 03 05 39 f0 0e 00 06 12 f7 02 0a 05 16 f3 03 00 06 12 f0 02 0a 05 16 f0 18 00 06 12 f7 02 01	...9............................
7ee0	05 21 f3 03 00 06 12 f0 02 01 05 21 f7 06 02 05 40 01 f0 00 02 05 40 01 72 1b 00 00 00 72 09 00	.!.........!....@.....@.r....r..
7f00	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 6f 20 46 69 72	..u.".../*..*.LabDAQ.Arduino.Fir
7f20	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 94 80 e2 94 80	mware.v1.1..*...................
7f40	e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94	................................
7f60	80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2	................................
7f80	94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80	................................
7fa0	e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94	................................
7fc0	80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2	................................
7fe0	94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80	................................
8000	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 65 74 63 68 20	...........*.Upload.this.sketch.
8020	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 64 20 72 61 74	to.your.Arduino...*.Set.baud.rat
8040	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 65 74 63 68 20	e.to.115200.in.both.this.sketch.
8060	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 4f 45 53 0a 20	and.LabDAQ...*..*.WHAT.IT.DOES..
8080	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 61 6c 6f 67 20	*...Continuously.streams.analog.
80a0	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 43 2e 0a 20 2a	+.digital.readings.to.the.PC...*
80c0	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 6d 20 74 68 65	...Listens.for.commands.from.the
80e0	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 2a 20 52 45 43	.PC.and.executes.them...*..*.REC
8100	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 69 6e 6f 29 3a	EIVED.COMMANDS.(PC.....Arduino):
8120	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 74 61 6c 57 72	..*...W:D13:1..........digitalWr
8140	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 20 20 20 20 20	ite(13,.HIGH)..*...W:D6:0.......
8160	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 2a 20 20 20 50	....digitalWrite(6,..LOW)..*...P
8180	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 28 39 2c 20 31	:D9:128.........analogWrite(9,.1
81a0	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 45 54 50 4f 49	28).......~50%.PWM..*...C:SETPOI
81c0	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 74 65 72 0a 20	NT:75.0..store.named.parameter..
81e0	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 69 6d 6d 65 64	*...Q:A0.............reply.immed
8200	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 20 52 3a 41 4c	iately.with.A0.reading..*...R:AL
8220	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 20 66 72 61 6d	L............send.full.data.fram
8240	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 20 20 20 20 20	e.immediately..*...X:STOP.......
8260	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 20 20 58 3a 52	....set.all.outputs.LOW..*...X:R
8280	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 75 6c 74 73 0a	ESET..........reset.to.defaults.
82a0	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 92 20 50 43 29	.*..*.SENT.DATA.(Arduino.....PC)
82c0	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 3a 30 2c 44 33	:..*...A0:3.142,A1:0.015,D2:0,D3
82e0	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 41 4c 20 6d 73	:1\n.....(every.SEND_INTERVAL.ms
8300	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 20 20 20 20 20	)..*...ACK:W:D13:1\n............
8320	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 61 6e 64 29 0a	...........(after.each.command).
8340	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 20 20 20 20 20	.*...ERR:Unknown.command\n......
8360	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 0a 20 2a 20 e2	.........(on.parse.failure)..*..
8380	94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80	................................
83a0	e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94	................................
83c0	80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2	................................
83e0	94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80	................................
8400	e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94	................................
8420	80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2	................................
8440	94 80 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 20 2a 2f 0a 0a	............................*/..
8460	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 e2 94 80 e2 94	//........Configuration.........
8480	80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2	................................
84a0	94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80	................................
84c0	e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94	................................
84e0	80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2	................................
8500	94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80	................................
8520	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 41 30 2c 20 41	....int.ANALOG_PINS[6]..=.{A0,.A
8540	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 61 6c 20 70 69	1,.A2,.A3,.A4,.A5};.//.actual.pi
8560	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 41 50 49 4e 3a	n.numbers.(reconfigured.by.APIN:
8580	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 20 31 2c 20 32	).int.ANALOG_IDX[6]...=.{0,.1,.2
85a0	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 20 69 6e 64 69	,.3,.4,.5};........//.label.indi
85c0	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 20 e2 80 a6 29	ces.used.in.output.(A0,.A1,....)
85e0	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 33 2c 20 34 7d	.int.DIGITAL_IN[16]..=.{2,.3,.4}
8600	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 69 6d 65 20 76	;...//.reconfigured.at.runtime.v
8620	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 5b 31 36 5d 20	ia.DPIN:IN:.int.DIGITAL_OUT[16].
8640	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 2f 20 72 65 63	=.{5,.6,.7,.9,.10,.11};...//.rec
8660	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 20 4e 5f 41 4e	onfigured.via.DPIN:OUT:.int.N_AN
8680	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 62 79 20 41 50	ALOG........=.0;....//.set.by.AP
86a0	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 6c 20	IN:.command.(0.=.inactive.until.
86c0	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 5f 49 4e 20 20	configured.by.PC).int.N_DIG_IN..
86e0	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 4e 3a 49 4e 3a	......=.0;....//.set.by.DPIN:IN:
8700	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 6c 20 63 6f 6e	.command.(0.=.inactive.until.con
8720	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 20 20 3d 20 30	figured).int.N_DIG_OUT.......=.0
8740	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 6d 6d 61 6e 64	;....//.set.by.DPIN:OUT:.command
8760	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 75 72 65 64 29	.(0.=.inactive.until.configured)
8780	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 20 35 30 3b 20	.const.int.SEND_INTERVAL..=.50;.
87a0	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 20 28 35 30 20	..//.ms.between.data.frames.(50.
87c0	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 54 45 20 20 20	=.20.Hz).const.long.BAUD_RATE...
87e0	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 64 20 70 61 72	..=.115200;..//........Named.par
8800	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 73 29 20 e2 94	ameters.(set.via.C:.commands)...
8820	80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2	................................
8840	94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80	................................
8860	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 6f 61 74 20 70	.........................float.p
8880	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 70 61 72 61 6d	aram_setpoint.=.0.0;.float.param
88a0	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 6d 5f 6b 69 20	_kp.......=.1.0;.float.param_ki.
88c0	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 20 20 20 20 20	......=.0.0;.float.param_kd.....
88e0	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 20 20 20 3d 20	..=.0.0;.int...param_mode.....=.
8900	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 3d 20 30 3b 0a	0;..unsigned.long.lastSend.=.0;.
8920	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 94 80 e2 94 80	.//........Setup................
8940	e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94	................................
8960	80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2	................................
8980	94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80	................................
89a0	e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94	................................
89c0	80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2	................................
89e0	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 65 74 75 70 28	.....................void.setup(
8a00	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 45 29 3b 0a 20	).{...Serial.begin(BAUD_RATE);..
8a20	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 20	.for.(int.i.=.0;.i.<.N_DIG_IN;..
8a40	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 20 20 49 4e 50	i++).pinMode(DIGITAL_IN[i],..INP
8a60	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 30 3b 20 69 20	UT_PULLUP);...for.(int.i.=.0;.i.
8a80	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 49 47 49 54 41	<.N_DIG_OUT;.i++).pinMode(DIGITA
8aa0	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 80 e2 94 80 20	L_OUT[i],.OUTPUT);.}..//........
8ac0	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 80 e2 94 80 e2	Main.loop.......................
8ae0	94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80	................................
8b00	e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94	................................
8b20	80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2	................................
8b40	94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80	................................
8b60	e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94	................................
8b80	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 6d 61 6e 64 73	..void.loop().{...handleCommands
8ba0	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 e2 94 80 20 43	();...sendData();.}..//........C
8bc0	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 e2 94 80 e2 94	ommand.handler..................
8be0	80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2	................................
8c00	94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80	................................
8c20	e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94	................................
8c40	80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2	................................
8c60	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 61 6e 64 6c 65	.....................void.handle
8c80	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 61 76 61 69 6c	Commands().{...if.(!Serial.avail
8ca0	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 6d 64 20 3d 20	able()).return;....String.cmd.=.
8cc0	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 29 3b 0a 20 20	Serial.readStringUntil('\n');...
8ce0	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 68 28 29 20 3d	cmd.trim();...if.(cmd.length().=
8d00	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 20 63 6d 64 2e	=.0).return;....char.type.=.cmd.
8d20	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 20 e2 80 94 20	charAt(0);....//.W:Dxx:val......
8d40	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 20 27 57 27 29	digital.write...if.(type.==.'W')
8d60	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 2c	.{.....int.c1.=.cmd.indexOf(':',
8d80	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 72	.2);.....if.(c1.<.0).{.Serial.pr
8da0	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 72 65 74 75 72	intln("ERR:Bad.W.format");.retur
8dc0	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 64 2e 73 75 62	n;.}.....String.pinStr.=.cmd.sub
8de0	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 61 6c 20 20 20	string(2,.c1);.....int....val...
8e00	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 49 6e 74 28 29	.=.cmd.substring(c1.+.1).toInt()
8e20	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 72 2e 73 75 62	;.....int....pin....=.pinStr.sub
8e40	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 70 20 27 44 27	string(1).toInt();..//.strip.'D'
8e60	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 3f 20 48 49 47	.....digitalWrite(pin,.val.?.HIG
8e80	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 22 41 43 4b 3a	H.:.LOW);.....Serial.print("ACK:
8ea0	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 7d 0a 0a 20 20	");.Serial.println(cmd);...}....
8ec0	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 65 20 28 30 2d	//.P:Dxx:duty......PWM.write.(0-
8ee0	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 29 20 7b 0a 20	255)...else.if.(type.==.'P').{..
8f00	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 3b	...int.c1.=.cmd.indexOf(':',.2);
8f20	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 72 69 6e 74 6c	.....if.(c1.<.0).{.Serial.printl
8f40	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 72 6e 3b 20 7d	n("ERR:Bad.P.format");.return;.}
8f60	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 6e 67 28 32 2c	.....int.pin..=.cmd.substring(2,
8f80	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 20 20 20 20 69	.c1).substring(1).toInt();.....i
8fa0	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 73 74 72 69 6e	nt.duty.=.constrain(cmd.substrin
8fc0	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 0a 20 20 20 20	g(c1.+.1).toInt(),.0,.255);.....
8fe0	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 20 53 65 72 69	analogWrite(pin,.duty);.....Seri
9000	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 6e	al.print("ACK:");.Serial.println
9020	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 75 65 20 20 e2	(cmd);...}....//.C:NAME:value...
9040	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 73 65 20 69 66	...set.named.parameter...else.if
9060	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 20 3d 20 63 6d	.(type.==.'C').{.....int.c1.=.cm
9080	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 63 32 20 3d 20	d.indexOf(':',.2);.....int.c2.=.
90a0	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 20 20 20 69 66	cmd.indexOf(':',.c1.+.1);.....if
90c0	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 6c 2e 70 72 69	.(c1.<.0.||.c2.<.0).{.Serial.pri
90e0	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 65 74 75 72 6e	ntln("ERR:Bad.C.format");.return
9100	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 75 62 73 74 72	;.}.....String.name.=.cmd.substr
9120	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 20 3d 20 63 6d	ing(2,.c1);.....float..val..=.cm
9140	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 28 29 3b 0a 20	d.substring(c2.+.1).toFloat();..
9160	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 4e 54 22 29 20	...if......(name.==."SETPOINT").
9180	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 6c 73 65 20 69	param_setpoint.=.val;.....else.i
91a0	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 6d 5f 6b 70 20	f.(name.==."KP").......param_kp.
91c0	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 61 6d 65 20 3d	......=.val;.....else.if.(name.=
91e0	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 20 20 3d 20 76	=."KI").......param_ki.......=.v
9200	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 44 22 29 20 20	al;.....else.if.(name.==."KD")..
9220	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 20 20 20 20 65	.....param_kd.......=.val;.....e
9240	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 20 70 61 72 61	lse.if.(name.==."MODE").....para
9260	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 2f 2f 20 41 64	m_mode.....=.(int)val;.....//.Ad
9280	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 0a 20 20 20 20	d.your.own.parameters.here:.....
92a0	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 29 20 6d 6f 74	//.else.if.(name.==."SPEED").mot
92c0	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 70 72 69 6e 74	or_speed.=.val;.....Serial.print
92e0	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);..
9300	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 61 74 65 20 71	.}....//.Q:NAME......immediate.q
9320	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 29 20 7b 0a 20	uery...else.if.(type.==.'Q').{..
9340	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 69 6e 67 28 32	...String.name.=.cmd.substring(2
9360	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 4e	);.....if......(name.==."SETPOIN
9380	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 54 3a 22 29 3b	T").{.Serial.print("SETPOINT:");
93a0	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 69 6e 74 2c 20	.Serial.println(param_setpoint,.
93c0	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 22 4b 50 22 29	3);.}.....else.if.(name.==."KP")
93e0	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 29 3b 20 20 20	.......{.Serial.print("KP:");...
9400	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 2c 20 34 29 3b	....Serial.println(param_kp,.4);
9420	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 74 6f 20 72 65	.}.....else.{.......//.Try.to.re
9440	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 20 20 69 66 20	ad.as.analog.pin..Q:A0.......if.
9460	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 20 20 20 20 20	(name.charAt(0).==.'A').{.......
9480	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 31 29 2e 74 6f	..int.pin.=.name.substring(1).to
94a0	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 61 6c 6f 67 52	Int();.........float.v.=.analogR
94c0	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 20 20 20 20 20	ead(pin).*.(5.0./.1023.0);......
94e0	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 61 6c 2e 70 72	...Serial.print(name);.Serial.pr
9500	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 20 33 29 3b 0a	int(":");.Serial.println(v,.3);.
9520	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 4c 4c 20 20 e2	......}.....}...}....//.R:ALL...
9540	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 65 6c 79 0a 20	...send.full.frame.immediately..
9560	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 20 20 73 65 6e	.else.if.(type.==.'R').{.....sen
9580	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 2f 20 58 3a 52	dFrame();...}....//.X:STOP./.X:R
95a0	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 65 6c 73 65 20	ESET......emergency.stop...else.
95c0	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 6e 67 20 73 75	if.(type.==.'X').{.....String.su
95e0	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 6f 72 20 28 69	b.=.cmd.substring(2);.....for.(i
9600	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 20 64 69	nt.i.=.0;.i.<.N_DIG_OUT;.i++).di
9620	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 4c 4f 57 29 3b	gitalWrite(DIGITAL_OUT[i],.LOW);
9640	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
9660	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 50 49 4e 3a 30	l.println(cmd);...}....//.APIN:0
9680	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 67 20 69 6e 70	,1,3......reconfigure.analog.inp
96a0	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 93 35 20 69 6e	uts.at.runtime.(indices.0...5.in
96c0	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 20 3d 3d 20 27	to.A0...A5)...else.if.(type.==.'
96e0	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 74 68 28 22 41	A').{.....if.(!cmd.startsWith("A
9700	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 52 52 3a 42 61	PIN:")).{.Serial.println("ERR:Ba
9720	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 20 20 53 74 72	d.A.command");.return;.}.....Str
9740	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 28 35 29 3b 20	ing.pinList.=.cmd.substring(5);.
9760	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 5f 41 50 49 4e	..//."0,1,3".....const.int._APIN
9780	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 20 20 20 20 4e	S[].=.{A0,A1,A2,A3,A4,A5};.....N
97a0	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 3d 20 30 3b 0a	_ANALOG.=.0;.....int.start.=.0;.
97c0	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 6e 74 29 70 69	....for.(int.i.=.0;.i.<=.(int)pi
97e0	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 20 20 69 66 20	nList.length();.i++).{.......if.
9800	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 20 7c 7c 20 70	(i.==.(int)pinList.length().||.p
9820	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 20 53 74 72 69	inList[i].==.',').{.........Stri
9840	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 73 74 61 72 74	ng.tok.=.pinList.substring(start
9860	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 66 20 28 74 6f	,.i);.tok.trim();.........if.(to
9880	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 3c 20 36 29 20	k.length().>.0.&&.N_ANALOG.<.6).
98a0	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 6f 49 6e 74 28	{...........int.idx.=.tok.toInt(
98c0	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 26 20 69 64 78	);...........if.(idx.>=.0.&&.idx
98e0	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 50 49 4e 53 5b	.<.6).{.............ANALOG_PINS[
9900	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 20 20 20 20 20	N_ANALOG].=._APINS[idx];........
9920	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 3d 20 69 64 78	.....ANALOG_IDX[N_ANALOG]..=.idx
9940	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 20 20 20 20 20	;.............N_ANALOG++;.......
9960	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 72 74 20 3d 20	....}.........}.........start.=.
9980	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.
99a0	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
99c0	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 20 20 6f 72 20	d);...}....//.DPIN:IN:2,3,8..or.
99e0	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 69 67 75 72 65	.DPIN:OUT:5,6,7......reconfigure
9a00	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 65 0a 20 20 65	.digital.I/O.pins.at.runtime...e
9a20	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 69 6e 74 20 63	lse.if.(type.==.'D').{.....int.c
9a40	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 20 20 69 6e 74	1.=.cmd.indexOf(':',.2);.....int
9a60	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 4f 66 28 27 3a	.c2.=.(c1.>=.0).?.cmd.indexOf(':
9a80	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 20 3c 20 30 20	',.c1.+.1).:.-1;.....if.(c1.<.0.
9aa0	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 28 22 45 52 52	||.c2.<.0).{.Serial.println("ERR
9ac0	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 20 7d 0a 20 20	:Bad.DPIN.format");.return;.}...
9ae0	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 74 72 69 6e 67	..String.dir.....=.cmd.substring
9b00	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 22 0a 20 20 20	(2,.c1);....//."IN".or."OUT"....
9b20	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 28	.String.pinList.=.cmd.substring(
9b40	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 6f 6f 6c 20 69	c2.+.1);...//."2,3,8".....bool.i
9b60	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 74 2a 20 61 72	sIn.=.(dir.==."IN");.....int*.ar
9b80	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 49 47 49 54 41	r..=.isIn.?.DIGITAL_IN..:.DIGITA
9ba0	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 20 3f 20 26 4e	L_OUT;.....int*.cnt..=.isIn.?.&N
9bc0	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 20 69 6e 74 20	_DIG_IN...:.&N_DIG_OUT;.....int.
9be0	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 20 3a 20 4f 55	.mode.=.isIn.?.INPUT_PULLUP.:.OU
9c00	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 20 73 74 61 72	TPUT;.....*cnt.=.0;.....int.star
9c20	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 69 20 3c 3d 20	t.=.0;.....for.(int.i.=.0;.i.<=.
9c40	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 20 7b 0a 20 20	(int)pinList.length();.i++).{...
9c60	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 65 6e 67 74 68	....if.(i.==.(int)pinList.length
9c80	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 20 20 20 20 20	().||.pinList[i].==.',').{......
9ca0	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 73 74 72 69 6e	...String.tok.=.pinList.substrin
9cc0	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 20 20 20 20 20	g(start,.i);.tok.trim();........
9ce0	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 6e 74 20 3c 20	.if.(tok.length().>.0.&&.*cnt.<.
9d00	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 20 74 6f 6b 2e	16).{...........arr[*cnt].=.tok.
9d20	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 61 72 72 5b 2a	toInt();...........pinMode(arr[*
9d40	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 74 29 2b 2b 3b	cnt],.mode);...........(*cnt)++;
9d60	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 69 20 2b 20 31	.........}.........start.=.i.+.1
9d80	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 70 72 69 6e 74	;.......}.....}.....Serial.print
9da0	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);..
9dc0	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
9de0	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
9e00	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
9e20	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.......................
9e40	94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80	................................
9e60	e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94	................................
9e80	80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2	................................
9ea0	94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80 e2 94 80	................................
9ec0	e2 94 80 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
9ee0	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
9f00	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;
9f20	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
9f40	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
9f60	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
9f80	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
9fa0	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.
9fc0	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++).{.....
9fe0	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
a000	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.(!
a020	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
a040	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 20 22 3a 22 20	".+.String(ANALOG_IDX[i]).+.":".
a060	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 20 66 61 6c 73	+.String(v,.3);.....first.=.fals
a080	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 28 49 4e 50 55	e;...}...//.Digital.inputs.(INPU
a0a0	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 73 65 64 3d 31	T_PULLUP.....invert.so.pressed=1
a0c0	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 20 6f 75 74 70	)...//.These.share.the.same.outp
a0e0	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 69 6e 65 20 70	ut.line.as.analog.....one.line.p
a100	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 20 69 20 3c 20	er.frame....for.(int.i.=.0;.i.<.
a120	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 69 72 73 74 29	N_DIG_IN;.i++).{.....if.(!first)
a140	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 20 2b 20 53 74	.out.+=.",";.....out.+=."D".+.St
a160	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 20 53 74 72 69	ring(DIGITAL_IN[i]).+.":".+.Stri
a180	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 69 5d 29 29 3b	ng(!digitalRead(DIGITAL_IN[i]));
a1a0	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 65 72 69 61 6c	.....first.=.false;...}...Serial
a1c0	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 20 63 6f 6d 62	.println(out);...//.Example.comb
a1e0	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 44 33 3a 31 0a	ined.output:.A0:3.142,D2:0,D3:1.
a200	7d 0a 29 13 da 07 5f 5f 64 6f 63 5f 5f 72 fe 00 00 00 72 01 01 00 00 72 27 01 00 00 72 2a 00 00	}.)...__doc__r....r....r'...r*..
a220	00 72 45 00 00 00 da 06 74 79 70 69 6e 67 72 02 00 00 00 72 03 00 00 00 72 04 00 00 00 72 05 00	.rE.....typingr....r....r....r..
a240	00 00 72 06 00 00 00 72 07 00 00 00 72 4b 00 00 00 da 17 73 65 72 69 61 6c 2e 74 6f 6f 6c 73 2e	..r....r....rK.....serial.tools.
a260	6c 69 73 74 5f 70 6f 72 74 73 72 49 00 00 00 da 0b 49 6d 70 6f 72 74 45 72 72 6f 72 72 09 00 00	list_portsrI.....ImportErrorr...
a280	00 da 10 41 52 44 55 49 4e 4f 5f 46 49 52 4d 57 41 52 45 72 55 00 00 00 72 1b 00 00 00 72 18 00	...ARDUINO_FIRMWARErU...r....r..
a2a0	00 00 da 08 3c 6d 6f 64 75 6c 65 3e 72 70 01 00 00 01 00 00 00 73 64 00 00 00 f0 03 01 01 01 f1	....<module>rp.......sd.........
a2c0	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 00 3d f0 06 05	.A....F..................=..=...
a2e0	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 01 f0 56 0f 5b	......."........d..@...d..@..V.[
a300	03 14 04 d2 00 10 f8 f0 5f 0f 00 08 13 f4 00 01 01 1e d8 18 1d d2 04 15 f0 03 01 01 1e fa 73 11	........_.....................s.
a320	00 00 00 a8 0a 41 00 00 c1 00 09 41 0c 03 c1 0b 01 41 0c 03	.....A.....A.....A..