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To reproduce, just instantiate an instance:
WiFiUDP Udp;
....ino:145:9: error: cannot declare variable 'Udp' to be of abstract type 'arduino::WiFiUDP'
WiFiUDP Udp;
^~~
In file included from C:...\AppData\Local\Arduino15\packages\arduinobeta\hardware\mbed\1.2.1\libraries\WiFi\src/WiFi.h:32:0,
I see there's a pull request posted as well.
Thanks,
John W.
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