Yes, although there are some restrictions. Look at the descriptions of the DEBUGIN and DEBUG statements and look for the discussion of serial port #16 in the documentation on SERIN and SEROUT in the Stamp Manual. If you use pin #16 in a SERIN or SEROUT statement, the programming port (USB port) is used for the serial I/O. Anything sent from the PC is echoed back to the PC. DEBUGIN and DEBUG are actually SERIN and SEROUT statements using port #16 at a fixed Baud (9600 or 19200 depending on the Stamp model).
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