#define MEASURE A0
#define ACTION  8
#define TS  20

bool  bAction = 0;
float action  = 0.0;
float measure = 0.0;
float lastMeasure = 0.0;
float Mo  = 0;
long  T   = 10000;
long  newT = T;
long  t_1 = millis();
long  t_0 = millis();
long  lastSample = millis();

void setup() {

  Serial.begin(115200);
  pinMode(ACTION, OUTPUT);

}

void loop() {

  // Actuation

  t_0 = millis();

  if ((t_0 - t_1) * 2 > T) {

    t_1 = t_0;
    bAction = !bAction;
    action  = 5 * bAction;
    digitalWrite(ACTION, bAction);

    Serial.print("Mi=5,Mo=");
    Mo = abs(lastMeasure - measure);
    Serial.println(Mo, 4);
    lastMeasure = measure;

    if (newT != T) {
      T = newT;
    }

  }

  // Measuring

  measure = analogRead(MEASURE);
  measure = measure * 5 / 1023;

  // Sampling

  long sample = millis();
  if ((sample - lastSample) > TS) {

    lastSample = sample;

    Serial.print(action);
    Serial.print(",");
    Serial.println(measure);
  }
}

void serialEvent() {
  while (Serial.available()) {
    long periodo = Serial.parseFloat() * 1000;
    if (periodo > 0) {
      newT = periodo;
    }
  }
}