Day 2: Adding the GPS Unit

Day 2 of the Aquabots Autnomous Vessels Project: Adding GPS.

Sep 26, 2018

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arduino

gps unit

grove

Devices & Components

Arduino Mega 2560 Rev3

Seeed Shield for Mega

GPS Antenna

SMA to uFL/u.FL/IPX/IPEX RF Adapter Cable

Grove Blue Wrapper Pack 1-2

Grove-GPS

Software & Tools

Arduino IDE

Aquabots Client

Project description

Code

TinGPS.h

The header files for the TinyGPS module

1#ifndef TinyGPS_h
2#define TinyGPS_h
3
4#define TINY_GPS "TinyGPS"
5#define  TINY_GPS_ID "gps.tiny"
6
7#include <SoftwareSerial.h>
8#include <TinyGPS++.h>
9
10class  TinyGPS {
11
12  private:
13    bool complete; //general purpose flag for reading  nmea sentences
14    String sentence;
15    double bearing;
16    double speed;
17    double latitude;
18    double longitude;
19    TinyGPSPlus gps;
20 
21  public:  TinyGPS(void);
22    void setup();
23    double getBearing();
24    double getLatitude();
25    double getLongitude();
26    double getBearing( double latFrom, double lonFrom,  double latTo, double lonTo );
27    double getDistance( double latFrom, double  lonFrom, double latTo, double lonTo );
28    bool wait();//wait for processing  of the nmea sentence
29    void loop();
30};
31
32#endif

#ifndef TinyGPS_h
#define TinyGPS_h

#define TINY_GPS "TinyGPS"
#define  TINY_GPS_ID "gps.tiny"

#include <SoftwareSerial.h>
#include <TinyGPS++.h>

class  TinyGPS {

  private:
    bool complete; //general purpose flag for reading  nmea sentences
    String sentence;
    double bearing;
    double speed;
    double latitude;
    double longitude;
    TinyGPSPlus gps;
 
  public:  TinyGPS(void);
    void setup();
    double getBearing();
    double getLatitude();
    double getLongitude();
    double getBearing( double latFrom, double lonFrom,  double latTo, double lonTo );
    double getDistance( double latFrom, double  lonFrom, double latTo, double lonTo );
    bool wait();//wait for processing  of the nmea sentence
    void loop();
};

#endif

Vessels

c_cpp

This contains the modifications to the main programme, so that the vessel will not only register itself, but also relay its position

1#include <ArduinoJson.h>
2
3#include "WebClient.h"
4#include "Registration.h"
5#include   "TinyGPS.h"
6
7#define VESSEL F("AquaBoat")
8#define PASSPHRASE F("AquaPassphrase")
9#define   LATITUDE 51.2
10#define LONGITUDE 4.2
11#define TIME_OUT 300 //msec
12
13SoftwareSerial   Serial1(2, 3); // RX, TX
14WebClient webClient;
15Registration registration;
16TinyGPS   tinyGPS;
17
18void setup() {
19  Serial.begin(9600);
20  Serial.print(F("Setup   Vessel: ")); Serial.println( VESSEL );
21  webClient.setup();
22  registration.setup();
23   tinyGPS.setup();
24}
25
26void loop() {
27  tinyGPS.loop();
28  long vesselId   =  registration.registerVessel( VESSEL, PASSPHRASE, tinyGPS.getLatitude(), tinyGPS.getLongitude()   );
29  if ( vesselId >= 0 )
30    Serial.print(F("VESSEL: ")); Serial.println(   vesselId );
31  delay(1000);
32}
33

#include <ArduinoJson.h>

#include "WebClient.h"
#include "Registration.h"
#include   "TinyGPS.h"

#define VESSEL F("AquaBoat")
#define PASSPHRASE F("AquaPassphrase")
#define   LATITUDE 51.2
#define LONGITUDE 4.2
#define TIME_OUT 300 //msec

SoftwareSerial   Serial1(2, 3); // RX, TX
WebClient webClient;
Registration registration;
TinyGPS   tinyGPS;

void setup() {
  Serial.begin(9600);
  Serial.print(F("Setup   Vessel: ")); Serial.println( VESSEL );
  webClient.setup();
  registration.setup();
   tinyGPS.setup();
}

void loop() {
  tinyGPS.loop();
  long vesselId   =  registration.registerVessel( VESSEL, PASSPHRASE, tinyGPS.getLatitude(), tinyGPS.getLongitude()   );
  if ( vesselId >= 0 )
    Serial.print(F("VESSEL: ")); Serial.println(   vesselId );
  delay(1000);
}

Vessels

c_cpp

This contains the modifications to the main programme, so that the vessel will not only register itself, but also relay its position

1#include <ArduinoJson.h>
2
3#include "WebClient.h"
4#include "Registration.h"
5#include  "TinyGPS.h"
6
7#define VESSEL F("AquaBoat")
8#define PASSPHRASE F("AquaPassphrase")
9#define  LATITUDE 51.2
10#define LONGITUDE 4.2
11#define TIME_OUT 300 //msec
12
13SoftwareSerial  Serial1(2, 3); // RX, TX
14WebClient webClient;
15Registration registration;
16TinyGPS  tinyGPS;
17
18void setup() {
19  Serial.begin(9600);
20  Serial.print(F("Setup  Vessel: ")); Serial.println( VESSEL );
21  webClient.setup();
22  registration.setup();
23  tinyGPS.setup();
24}
25
26void loop() {
27  tinyGPS.loop();
28  long vesselId  =  registration.registerVessel( VESSEL, PASSPHRASE, tinyGPS.getLatitude(), tinyGPS.getLongitude()  );
29  if ( vesselId >= 0 )
30    Serial.print(F("VESSEL: ")); Serial.println(  vesselId );
31  delay(1000);
32}
33

#include <ArduinoJson.h>

#include "WebClient.h"
#include "Registration.h"
#include  "TinyGPS.h"

#define VESSEL F("AquaBoat")
#define PASSPHRASE F("AquaPassphrase")
#define  LATITUDE 51.2
#define LONGITUDE 4.2
#define TIME_OUT 300 //msec

SoftwareSerial  Serial1(2, 3); // RX, TX
WebClient webClient;
Registration registration;
TinyGPS  tinyGPS;

void setup() {
  Serial.begin(9600);
  Serial.print(F("Setup  Vessel: ")); Serial.println( VESSEL );
  webClient.setup();
  registration.setup();
  tinyGPS.setup();
}

void loop() {
  tinyGPS.loop();
  long vesselId  =  registration.registerVessel( VESSEL, PASSPHRASE, tinyGPS.getLatitude(), tinyGPS.getLongitude()  );
  if ( vesselId >= 0 )
    Serial.print(F("VESSEL: ")); Serial.println(  vesselId );
  delay(1000);
}

TinGPS.h

The header files for the TinyGPS module

1#ifndef TinyGPS_h
2#define TinyGPS_h
3
4#define TINY_GPS "TinyGPS"
5#define
6  TINY_GPS_ID "gps.tiny"
7
8#include <SoftwareSerial.h>
9#include <TinyGPS++.h>
10
11class
12  TinyGPS {
13
14  private:
15    bool complete; //general purpose flag for reading
16  nmea sentences
17    String sentence;
18    double bearing;
19    double speed;
20
21    double latitude;
22    double longitude;
23    TinyGPSPlus gps;
24 
25  public:
26  TinyGPS(void);
27    void setup();
28    double getBearing();
29    double getLatitude();
30
31    double getLongitude();
32    double getBearing( double latFrom, double lonFrom,
33  double latTo, double lonTo );
34    double getDistance( double latFrom, double
35  lonFrom, double latTo, double lonTo );
36    bool wait();//wait for processing
37  of the nmea sentence
38    void loop();
39};
40
41#endif

#ifndef TinyGPS_h
#define TinyGPS_h

#define TINY_GPS "TinyGPS"
#define
  TINY_GPS_ID "gps.tiny"

#include <SoftwareSerial.h>
#include <TinyGPS++.h>

class
  TinyGPS {

  private:
    bool complete; //general purpose flag for reading
  nmea sentences
    String sentence;
    double bearing;
    double speed;

    double latitude;
    double longitude;
    TinyGPSPlus gps;
 
  public:
  TinyGPS(void);
    void setup();
    double getBearing();
    double getLatitude();

    double getLongitude();
    double getBearing( double latFrom, double lonFrom,
  double latTo, double lonTo );
    double getDistance( double latFrom, double
  lonFrom, double latTo, double lonTo );
    bool wait();//wait for processing
  of the nmea sentence
    void loop();
};

#endif

TinyGPS.c

c_cpp

Implementation of the TinyGPS module

1TinyGPS::TinyGPS() {};
2
3//Repeatedly feed it characters from your
4void  TinyGPS::setup( ) {
5  Serial1.begin(9600);
6  Serial.println(F("GPS INITIALISED"));
7  latitude = -1;
8  longitude = -1;
9  bearing = 0;
10  speed = 0;
11  complete  = false;
12}
13
14double TinyGPS::getBearing() {
15  return bearing;
16}
17
18double  TinyGPS::getLatitude() {
19  return latitude;
20}
21
22double TinyGPS::getLongitude()  {
23  return longitude;
24}
25
26bool TinyGPS::wait() {
27  return complete;
28}
29
30double  TinyGPS::getBearing( double latFrom,  double lonFrom, double latTo, double lonTo  ) {
31  return gps.courseTo( latFrom, lonFrom, latTo, lonTo );
32}
33
34double  TinyGPS::getDistance( double latFrom, double lonFrom, double latTo, double lonTo  ) {
35  return gps.distanceBetween( latFrom, lonFrom, latTo, lonTo );
36}
37
38void  TinyGPS::loop() {
39  Serial.println(F("CHECKING GPS"));
40  bool updated =  false;
41  unsigned long current = millis();
42
43  while (Serial1.available()  && ( millis() < ( current + TIME_OUT  ))) {
44    char chr = Serial1.read();
45    gps.encode( chr );
46    updated = gps.location.isUpdated();
47    if ( updated  ) {
48
49      latitude = gps.location.lat();
50      longitude = gps.location.lng();
51      bearing = gps.course.deg();
52      speed = gps.speed.mps();
53      Serial.print(F("\
54\
55GPS  Location Updated: "));
56      Serial.print( latitude, 6 ); Serial.print("E ");
57      Serial.print( longitude, 6 ), Serial.println("N\
58\
59 "); // bearing, speed  );
60      break;
61    }
62  }
63}
64

TinyGPS::TinyGPS() {};

//Repeatedly feed it characters from your
void  TinyGPS::setup( ) {
  Serial1.begin(9600);
  Serial.println(F("GPS INITIALISED"));
  latitude = -1;
  longitude = -1;
  bearing = 0;
  speed = 0;
  complete  = false;
}

double TinyGPS::getBearing() {
  return bearing;
}

double  TinyGPS::getLatitude() {
  return latitude;
}

double TinyGPS::getLongitude()  {
  return longitude;
}

bool TinyGPS::wait() {
  return complete;
}

double  TinyGPS::getBearing( double latFrom,  double lonFrom, double latTo, double lonTo  ) {
  return gps.courseTo( latFrom, lonFrom, latTo, lonTo );
}

double  TinyGPS::getDistance( double latFrom, double lonFrom, double latTo, double lonTo  ) {
  return gps.distanceBetween( latFrom, lonFrom, latTo, lonTo );
}

void  TinyGPS::loop() {
  Serial.println(F("CHECKING GPS"));
  bool updated =  false;
  unsigned long current = millis();

  while (Serial1.available()  && ( millis() < ( current + TIME_OUT  ))) {
    char chr = Serial1.read();
    gps.encode( chr );
    updated = gps.location.isUpdated();
    if ( updated  ) {

      latitude = gps.location.lat();
      longitude = gps.location.lng();
      bearing = gps.course.deg();
      speed = gps.speed.mps();
      Serial.print(F("\
\
GPS  Location Updated: "));
      Serial.print( latitude, 6 ); Serial.print("E ");
      Serial.print( longitude, 6 ), Serial.println("N\
\
 "); // bearing, speed  );
      break;
    }
  }
}

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