Update GPS

Arduino Code/masterCode/gpsControl.ino

-SoftwareSerial mySerial(3, 2); // 3 to tx, 2 to rx
-
-Adafruit_GPS GPS(&mySerial);
-#define GPSECHO  true
-boolean usingInterrupt = false;
-void useInterrupt(boolean); // Func prototype keeps Arduino 0023 happy
-
-SIGNAL(TIMER0_COMPA_vect) {
-  char c = GPS.read();
-#ifdef UDR0
-  if (GPSECHO)
-    if (c) UDR0 = c;
-#endif
-}
-
-void useInterrupt(boolean v) {
-  if (v) {
-    OCR0A = 0xAF;
-    TIMSK0 |= _BV(OCIE0A);
-    usingInterrupt = true;
-  } else {
-    TIMSK0 &= ~_BV(OCIE0A);
-    usingInterrupt = false;
-  }
-}
-
-uint32_t timer = millis();
-
 void initializeGPS()
 {
-  GPS.begin(9600);
-  
-  // uncomment this line to turn on RMC (recommended minimum) and GGA (fix data) including altitude
-  GPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
-  // uncomment this line to turn on only the "minimum recommended" data
-  //GPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY);
-  // For parsing data, we don't suggest using anything but either RMC only or RMC+GGA since
-  // the parser doesn't care about other sentences at this time
-  
-  // Set the update rate
-  GPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);   // 1 Hz update rate
-  // For the parsing code to work nicely and have time to sort thru the data, and
-  // print it out we don't suggest using anything higher than 1 Hz
-
-  // Request updates on antenna status, comment out to keep quiet
-  GPS.sendCommand(PGCMD_ANTENNA);
-
-  // the nice thing about this code is you can have a timer0 interrupt go off
-  // every 1 millisecond, and read data from the GPS for you. that makes the
-  // loop code a heck of a lot easier!
-  useInterrupt(true);
-
-  delay(1000);
-  // Ask for firmware version
-  mySerial.println(PMTK_Q_RELEASE);
+    GPS.begin(9600);
 }
 
-float longitude = 0.0;
-int longitudeDegrees = 0;
-float longitudeMinutes = 0.0;
-
-float latitude = 0.0;
-int latitudeDegrees = 0;
-float latitudeMinutes = 0.0;
-
-void updateGPS()
+// sends gps data over UDP to the rover
+void sendGpsData()
 {
-    if (GPS.newNMEAreceived()) {
-    if (!GPS.parse(GPS.lastNMEA()))
-      true;  // we can fail to parse a sentence in which case we should just wait for another
-  }
-
-  if (timer > millis())  timer = millis();
-
-  if (millis() - timer > 2000) { 
-    timer = millis(); // reset the timer
-    
-    if (GPS.fix) {
-      Serial.println("Fixed"); //If the GPS is fixed, it sees 3 satellites and can track position, allowing it to use the functions below.
-    }
-    else
-    {
-      Serial.println("Not fixed");
-    }
-  longitude = GPS.longitude;
-  longitudeDegrees = longitude/100;
-  longitudeMinutes = (longitude/100 - longitudeDegrees)*100;
-  
-  latitude = GPS.latitude;
-  latitudeDegrees = latitude/100;
-  latitudeMinutes = (latitude/100 - latitudeDegrees)*100;
-  }
+    Udp.beginPacket(Udp.remoteIP(), Udp.remotePort());
+    Udp.write("N" + GPS.latitude);
+    Udp.write("W" + GPS.longitude);
+    Udp.endPacket();
 }