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I have tested Arduino ADK and Android communication over USB, but I can not debug an Android application, because USB is connected to the Arduino.

Is there a workaround solution?

I tried to connect ADB over wireless, but USB host with Arduino doesn't work.

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Wireless ADB is the only way to debug while the USB port is in use. With ADB enabled and connected via USB:

adb tcpip 5555
adb connect <Device IP>:5555

to go back to using USB ADB:

adb usb

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