210 lines
7.1 KiB
C++
210 lines
7.1 KiB
C++
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// FALTA ENVIAR EN FORMATO OSC EL ARRANQUE DEL WIFLY
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// ARDUINO LEONARDO - 5V - 16MHz - ATmega32u4
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// http://arduino.cc/en/Guide/ArduinoLeonardo
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#include "WiFlyHQ.h"
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#include "ArdOSCForWiFlyHQ.h"
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#include <Wire.h>
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#define wiflyEnabled true
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/*
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const char mySSID[] = "hangar_nau3";
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const char myPassword[] = "m1cr0fug4s";
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const char *IP = "172.26.0.255";
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const char mySSID[] = "Mi$Red";
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const char myPassword[] = "FINALFANTASY";
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const char *IP = "192.168.0.255";
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*/
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const char mySSID[] = "gira_li";
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const char myPassword[] = "wifpanspermia";
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const char *IP = "192.168.2.10"; // receiber computer ip = showservernew
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/*
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const char mySSID[] = "xarxasat";
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const char myPassword[] = "connexio$a$xarxasat";
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const char *IP = "192.168.3.9";
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*/
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// const char *IP = "192.168.2.255"; // broadcast per a tots...
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const uint16_t outPort = 8000;
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const uint16_t localPort = 9000;
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#define ADDRESS 0x61 // The address of the SD21
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#define bat A1
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#define ledBat 18 //A0
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#define ledDatos 4
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#define releServos 7
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#define batThreshold 136
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#define SERVO1 0x3F // Address of first servo RIGHT EYE X
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#define SERVO2 0x40 // RIGHT EYE Y
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#define SERVO3 0x41 // LEFT EYE X
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#define SERVO4 0x42 // LEFT EYE Y
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#define SERVO5 0x43 // LEFT PARP
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#define SERVO6 0x44 // RIGHT PARP
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#define SERVO7 0x45 // LEFT EAR
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#define SERVO8 0x46 // RIGHT EAR
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#define SERVO9 0x47 // MOUTH
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#define SERVO10 0x48 // TONGUE
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#define VELSERVO1 0x00 // Address of first servo speed
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#define VELSERVO2 0x03
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#define VELSERVO3 0x06
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#define VELSERVO4 0x09
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#define VELSERVO5 0x0C
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#define VELSERVO6 0x0F
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#define VELSERVO7 0x12
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#define VELSERVO8 0x15
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#define VELSERVO9 0x18
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#define VELSERVO10 0x1B
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//Ojos
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#define limit1Low 10 // RIGHT EYE X IN
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#define limit1High 100 // OUT
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#define center1 50
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#define limit2Low 20 // RIGHT EYE Y DOWN
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#define limit2High 100 // UP
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#define center2 60
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#define limit3Low 20 // LEFT EYE X OUT
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#define limit3High 120 // IN
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#define center3 40 //
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#define limit4Low 14 // LEFT EYE Y UP
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#define limit4High 90 // DOWN
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#define center4 52
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//Orejas y parpados
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#define limit5Low 7 // LEFT PARP CLOSE
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#define limit5High 75 // OPEN
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#define center5 55
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#define limit6Low 12 // RIGHT PARP OPEN
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#define limit6High 75 // CLOSE
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#define center6 65
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#define limit7Low 3 // RIGHT EAR CLOSE
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#define limit7High 90 // OPEN
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#define center7 10
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#define limit8Low 1 // LEFT EAR CLOSE
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#define limit8High 90 // OPEN
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#define center8 5
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//Lengua y boca
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#define limit9Low 1 // MOUTH OPEN
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#define limit9High 100 // CLOSE
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#define center9 100 // ;)
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#define limit10Low 6 // TONGUE OUT
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#define limit10High 105 // IN
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#define center10 40
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uint32_t lastSend = 0;
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uint32_t lastEvent = 0;
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uint8_t intValue1, intValue2, intValue3, intValue4;
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uint8_t limitsHigh[10] = {limit1High, limit2High, limit3High, limit4Low, limit5High, limit6Low, limit7High, limit8High, limit9High, limit10High};
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uint8_t limitsLow[10] = {limit1Low, limit2Low, limit3Low, limit4High, limit5Low, limit6High, limit7Low, limit8Low, limit9Low, limit10Low};
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WiFly wifly;
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OSCClient client(&wifly);
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OSCServer server(&wifly);
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void setup()
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{
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Wire.begin();
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#define TWI_FREQ 400000L //Frecuencia bus I2C
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TWBR = ((F_CPU / TWI_FREQ) - 16) / 2;
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pinMode(ledDatos, OUTPUT); // LED DATOS
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pinMode(releServos, OUTPUT); // RELE
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pinMode(ledBat, OUTPUT); // LED BATERIA
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Serial.begin(115200);
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#if wiflyEnabled
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wifly.setupForUDP<HardwareSerial>(
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&Serial1, // the serial you want to use (this can also be a software serial)
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115200, // if you use a hardware serial, I would recommend the full 115200
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true, // should we try some other baudrates if the currently selected one fails?
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mySSID, // Your Wifi Name (SSID)
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myPassword, // Your Wifi Password
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"CAP", // Device name for identification in the network
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0, // IP Adress of the Wifly. if 0 (without quotes), it will use dhcp to get an ip "192.168.2.22"
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localPort, // WiFly receive port
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IP, // Where to send outgoing Osc messages. "255.255.255.255" will send to all hosts in the subnet
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outPort, // outgoing port
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false // show debug information on Serial
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);
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// * Flush the incoming data from the WiFly.
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// * @param timeout - the number of milliseconds to wait for additional data to flush. Default is 500msecs.
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// wifly.flushRx(1);
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wifly.printStatusInfo(); //print some debug information
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server.addCallback("/m1",&setMotor1);
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server.addCallback("/m2",&setMotor2);
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server.addCallback("/m3",&setMotor3);
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server.addCallback("/v1",&setVel1);
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server.addCallback("/v2",&setVel2);
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server.addCallback("/v3",&setVel3);
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server.addCallback("/r", &sReset);
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server.addCallback("/s",&setStop);
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server.addCallback("/t",&test);
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server.addCallback("/kp/ullxDRE",&setULLdreX);
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server.addCallback("/kp/ullxESQ",&setULLesqX);
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server.addCallback("/kp/ullyDRE",&setULLdreY);
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server.addCallback("/kp/ullyESQ",&setULLesqY);
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server.addCallback("/kp/orelDRE",&setOREdre);
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server.addCallback("/kp/orelESQ",&setOREesq);
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server.addCallback("/kp/parpDRE",&setPARdre);
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server.addCallback("/kp/parpESQ",&setPAResq);
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server.addCallback("/kp/boca",&setBoca);
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server.addCallback("/kp/lleng",&setLleng);
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#endif
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digitalWrite(releServos, HIGH); // ARRANCA LA PLACA DE SERVOS (RELE ON)
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delay(100);
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servoReset(); // RESETEAMOS SERVOS A POSICION CENTRAL
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// SD21(SERVO5, limit5Low);
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// SD21(SERVO9, limit9Low);
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}
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void loop()
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{
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//if (Serial.available()) SD21(SERVO10, Serial.read()); //Busqueda de limites
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//if (Serial.available()) moveServo(SERVO9, Serial.read()); //Busqueda de centros
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#if wiflyEnabled
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if ((millis() - lastSend) > 30000) { // interrupccion cada 30s para enviar estado de bateria y actualizacion de led
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digitalWrite(ledDatos, LOW);
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uint32_t bateria = (int)(analogRead(bat)/4);
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if( bateria < batThreshold) // Bat MAX 16V = 203
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digitalWrite(ledBat, HIGH); // Bat 11V = 136
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else // Bat min 10V = 125
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digitalWrite(ledBat, LOW);
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bateria = map(bateria, 130, 210, 0, 100);
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if( bateria > 100 ) bateria = 100;
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else if( bateria < 0 ) bateria = 0;
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client.sendInt(bateria,"/bt");
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//Serial.println(bateria);
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lastSend = millis();
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digitalWrite(ledDatos, HIGH);
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}
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if ((millis() - lastEvent) > 60000) { // INTERRUPCION PARA PONER EN REPOSO LOS SERVOS TRAS 60 SEG DE INACTIVIDAD
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digitalWrite(releServos, LOW);
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}
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/*
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if ((millis() - lastEvent) < 2) { // ELIMINA BUFFER SI LLEGAN MENSAJES A MAS X VECES POR SEGUNDO
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//wifly.flushRx();
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//Serial1.read();
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} */
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if(server.availableCheck(2)>0) {
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lastEvent = millis(); // inicializo contador de actividad!
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//digitalWrite(releServos, HIGH); // Activamos la placa de motores
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digitalWrite(ledDatos, LOW); // led de datos ON
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}
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digitalWrite(ledDatos, HIGH); // led de datos OFF
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#endif
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}
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