Commit 4cddd1ab authored by Thomas Pryor's avatar Thomas Pryor
Browse files

Cleaning

parent f2346dcb
/***********************************
This is the Adafruit GPS library - the ultimate GPS library
for the ultimate GPS module!
Tested and works great with the Adafruit Ultimate GPS module
using MTK33x9 chipset
------> http://www.adafruit.com/products/746
Pick one up today at the Adafruit electronics shop
and help support open source hardware & software! -ada
Adafruit invests time and resources providing this open source code,
please support Adafruit and open-source hardware by purchasing
products from Adafruit!
Written by Limor Fried/Ladyada for Adafruit Industries.
BSD license, check license.txt for more information
All text above must be included in any redistribution
****************************************/
// Fllybob added lines 34,35 and 40,41 to add 100mHz logging capability
#ifndef _ADAFRUIT_GPS_H
#define _ADAFRUIT_GPS_H
#ifdef __AVR__
#if ARDUINO >= 100
#include <SoftwareSerial.h>
#else
#include <NewSoftSerial.h>
#endif
#endif
// different commands to set the update rate from once a second (1 Hz) to 10 times a second (10Hz)
// Note that these only control the rate at which the position is echoed, to actually speed up the
// position fix you must also send one of the position fix rate commands below too.
#define PMTK_SET_NMEA_UPDATE_100_MILLIHERTZ "$PMTK220,10000*2F" // Once every 10 seconds, 100 millihertz.
#define PMTK_SET_NMEA_UPDATE_200_MILLIHERTZ "$PMTK220,5000*1B" // Once every 5 seconds, 200 millihertz.
#define PMTK_SET_NMEA_UPDATE_1HZ "$PMTK220,1000*1F"
#define PMTK_SET_NMEA_UPDATE_5HZ "$PMTK220,200*2C"
#define PMTK_SET_NMEA_UPDATE_10HZ "$PMTK220,100*2F"
// Position fix update rate commands.
#define PMTK_API_SET_FIX_CTL_100_MILLIHERTZ "$PMTK300,10000,0,0,0,0*2C" // Once every 10 seconds, 100 millihertz.
#define PMTK_API_SET_FIX_CTL_200_MILLIHERTZ "$PMTK300,5000,0,0,0,0*18" // Once every 5 seconds, 200 millihertz.
#define PMTK_API_SET_FIX_CTL_1HZ "$PMTK300,1000,0,0,0,0*1C"
#define PMTK_API_SET_FIX_CTL_5HZ "$PMTK300,200,0,0,0,0*2F"
// Can't fix position faster than 5 times a second!
#define PMTK_SET_BAUD_57600 "$PMTK251,57600*2C"
#define PMTK_SET_BAUD_9600 "$PMTK251,9600*17"
// turn on only the second sentence (GPRMC)
#define PMTK_SET_NMEA_OUTPUT_RMCONLY "$PMTK314,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29"
// turn on GPRMC and GGA
#define PMTK_SET_NMEA_OUTPUT_RMCGGA "$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28"
// turn on ALL THE DATA
#define PMTK_SET_NMEA_OUTPUT_ALLDATA "$PMTK314,1,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0*28"
// turn off output
#define PMTK_SET_NMEA_OUTPUT_OFF "$PMTK314,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28"
// to generate your own sentences, check out the MTK command datasheet and use a checksum calculator
// such as the awesome http://www.hhhh.org/wiml/proj/nmeaxor.html
#define PMTK_LOCUS_STARTLOG "$PMTK185,0*22"
#define PMTK_LOCUS_STOPLOG "$PMTK185,1*23"
#define PMTK_LOCUS_STARTSTOPACK "$PMTK001,185,3*3C"
#define PMTK_LOCUS_QUERY_STATUS "$PMTK183*38"
#define PMTK_LOCUS_ERASE_FLASH "$PMTK184,1*22"
#define LOCUS_OVERLAP 0
#define LOCUS_FULLSTOP 1
#define PMTK_ENABLE_SBAS "$PMTK313,1*2E"
#define PMTK_ENABLE_WAAS "$PMTK301,2*2E"
// standby command & boot successful message
#define PMTK_STANDBY "$PMTK161,0*28"
#define PMTK_STANDBY_SUCCESS "$PMTK001,161,3*36" // Not needed currently
#define PMTK_AWAKE "$PMTK010,002*2D"
// ask for the release and version
#define PMTK_Q_RELEASE "$PMTK605*31"
// request for updates on antenna status
#define PGCMD_ANTENNA "$PGCMD,33,1*6C"
#define PGCMD_NOANTENNA "$PGCMD,33,0*6D"
// how long to wait when we're looking for a response
#define MAXWAITSENTENCE 5
#if ARDUINO >= 100
#include "Arduino.h"
#if defined (__AVR__) && !defined(__AVR_ATmega32U4__)
#include "SoftwareSerial.h"
#endif
#else
#include "WProgram.h"
#include "NewSoftSerial.h"
#endif
class Adafruit_GPS {
public:
void begin(uint16_t baud);
#ifdef __AVR__
#if ARDUINO >= 100
Adafruit_GPS(SoftwareSerial *ser); // Constructor when using SoftwareSerial
#else
Adafruit_GPS(NewSoftSerial *ser); // Constructor when using NewSoftSerial
#endif
#endif
Adafruit_GPS(HardwareSerial *ser); // Constructor when using HardwareSerial
char *lastNMEA(void);
boolean newNMEAreceived();
void common_init(void);
void sendCommand(const char *);
void pause(boolean b);
boolean parseNMEA(char *response);
uint8_t parseHex(char c);
char read(void);
boolean parse(char *);
void interruptReads(boolean r);
boolean wakeup(void);
boolean standby(void);
uint8_t hour, minute, seconds, year, month, day;
uint16_t milliseconds;
// Floating point latitude and longitude value in degrees.
float latitude, longitude;
// Fixed point latitude and longitude value with degrees stored in units of 1/100000 degrees,
// and minutes stored in units of 1/100000 degrees. See pull #13 for more details:
// https://github.com/adafruit/Adafruit-GPS-Library/pull/13
int32_t latitude_fixed, longitude_fixed;
float latitudeDegrees, longitudeDegrees;
float geoidheight, altitude;
float speed, angle, magvariation, HDOP;
char lat, lon, mag;
boolean fix;
uint8_t fixquality, satellites;
boolean waitForSentence(const char *wait, uint8_t max = MAXWAITSENTENCE);
boolean LOCUS_StartLogger(void);
boolean LOCUS_StopLogger(void);
boolean LOCUS_ReadStatus(void);
uint16_t LOCUS_serial, LOCUS_records;
uint8_t LOCUS_type, LOCUS_mode, LOCUS_config, LOCUS_interval, LOCUS_distance, LOCUS_speed, LOCUS_status, LOCUS_percent;
private:
boolean paused;
uint8_t parseResponse(char *response);
#ifdef __AVR__
#if ARDUINO >= 100
SoftwareSerial *gpsSwSerial;
#else
NewSoftSerial *gpsSwSerial;
#endif
#endif
HardwareSerial *gpsHwSerial;
};
#endif
// Place your settings in this file to overwrite default and user settings.
{
}
\ No newline at end of file
/*
Editor: http://www.visualmicro.com
visual micro and the arduino ide ignore this code during compilation. this code is automatically maintained by visualmicro, manual changes to this file will be overwritten
the contents of the Visual Micro sketch sub folder can be deleted prior to publishing a project
all non-arduino files created by visual micro and all visual studio project or solution files can be freely deleted and are not required to compile a sketch (do not delete your own code!).
note: debugger breakpoints are stored in '.sln' or '.asln' files, knowledge of last uploaded breakpoints is stored in the upload.vmps.xml file. Both files are required to continue a previous debug session without needing to compile and upload again
Hardware: Arduino Mega w/ ATmega2560 (Mega 2560), Platform=avr, Package=arduino
*/
#ifndef _VSARDUINO_H_
#define _VSARDUINO_H_
#define __AVR_ATmega2560__
#define ARDUINO 164
#define ARDUINO_MAIN
#define __AVR__
#define __avr__
#define F_CPU 16000000L
#define __cplusplus
#define ARDUINO_ARCH_AVR
#define ARDUINO_AVR_MEGA2560
#define __inline__
#define __asm__(x)
#define __extension__
//#define __ATTR_PURE__
//#define __ATTR_CONST__
#define __inline__
//#define __asm__
#define __volatile__
#define GCC_VERSION 40801
#define volatile(va_arg)
typedef void *__builtin_va_list;
#define __builtin_va_start
#define __builtin_va_end
//#define __DOXYGEN__
#define __attribute__(x)
#define NOINLINE __attribute__((noinline))
#define prog_void
#define PGM_VOID_P int
#define NEW_H
/*
#ifndef __ATTR_CONST__
#define __ATTR_CONST__ __attribute__((__const__))
#endif
#ifndef __ATTR_MALLOC__
#define __ATTR_MALLOC__ __attribute__((__malloc__))
#endif
#ifndef __ATTR_NORETURN__
#define __ATTR_NORETURN__ __attribute__((__noreturn__))
#endif
#ifndef __ATTR_PURE__
#define __ATTR_PURE__ __attribute__((__pure__))
#endif
*/
typedef unsigned char byte;
extern "C" void __cxa_pure_virtual() {;}
#include <arduino.h>
#include <pins_arduino.h>
#undef F
#define F(string_literal) ((const PROGMEM char *)(string_literal))
#undef cli
#define cli()
#define pgm_read_byte(address_short)
#define pgm_read_word(address_short)
#define pgm_read_word2(address_short)
#define digitalPinToPort(P)
#define digitalPinToBitMask(P)
#define digitalPinToTimer(P)
#define analogInPinToBit(P)
#define portOutputRegister(P)
#define portInputRegister(P)
#define portModeRegister(P)
#include <roverCode.ino>
#include <CurrentSensor.ino>
#include <MotorControllerCommunication.ino>
#include <UDPtoDualPWM.ino>
#include <armControl.ino>
#include <compressor.ino>
#include <handControl.ino>
#include <megaBoardDefine.h>
#include <receiveOverEthernet.ino>
#endif
<VisualMicro>
<Program Name="roverCode" Ext=".ino" Location="C:\Users\OAPfive\Documents\Arduino\roverCode">
<Platform Name="arduino16x" Package="arduino" Platform="avr" Architecture="avr">
<Board Name="mega_atmega2560" Description="Arduino Mega w/ ATmega2560 (Mega 2560)" CoreFolder="C:\Program Files (x86)\Arduino\hardware\arduino\avr\cores\arduino" VariantFullPath="C:\Program Files (x86)\Arduino\hardware\arduino\avr\variants\mega" McuIdePath="C:\Program Files (x86)\Arduino" McuSketchBookPath="C:\Users\OAPfive\Documents\Arduino" name="Arduino Mega w/ ATmega2560 (Mega 2560)" vid.0="0x2341" pid.0="0x0010" vid.1="0x2341" pid.1="0x0042" vid.2="0x2A03" pid.2="0x0010" vid.3="0x2A03" pid.3="0x0042" upload.tool="avrdude" upload.maximum_data_size="8192" bootloader.tool="avrdude" bootloader.low_fuses="0xFF" bootloader.unlock_bits="0x3F" bootloader.lock_bits="0x0F" build.f_cpu="16000000L" build.core="arduino" build.variant="mega" build.board="AVR_MEGA2560" menu.cpu.atmega2560="ATmega2560 (Mega 2560)" menu.cpu.atmega2560.upload.protocol="wiring" menu.cpu.atmega2560.upload.maximum_size="253952" menu.cpu.atmega2560.upload.speed="115200" menu.cpu.atmega2560.bootloader.high_fuses="0xD8" menu.cpu.atmega2560.bootloader.extended_fuses="0xFD" menu.cpu.atmega2560.bootloader.file="stk500v2/stk500boot_v2_mega2560.hex" menu.cpu.atmega2560.build.mcu="atmega2560" menu.cpu.atmega2560.build.board="AVR_MEGA2560" menu.cpu.atmega1280="ATmega1280" menu.cpu.atmega1280.upload.protocol="arduino" menu.cpu.atmega1280.upload.maximum_size="126976" menu.cpu.atmega1280.upload.speed="57600" menu.cpu.atmega1280.bootloader.high_fuses="0xDA" menu.cpu.atmega1280.bootloader.extended_fuses="0xF5" menu.cpu.atmega1280.bootloader.file="atmega/ATmegaBOOT_168_atmega1280.hex" menu.cpu.atmega1280.build.mcu="atmega1280" menu.cpu.atmega1280.build.board="AVR_MEGA" runtime.ide.path="C:\Program Files (x86)\Arduino" build.system.path="C:\Program Files (x86)\Arduino\hardware\arduino\avr\system" runtime.ide.version="164" originalid="mega" tools.atprogram.cmd.path="%AVRSTUDIO_EXE_PATH%\atbackend\atprogram" tools.atprogram.cmd.setwinpath="true" tools.atprogram.program.params.verbose="-v" tools.atprogram.program.params.quiet="-q" tools.atprogram.program.pattern="&quot;{cmd.path}&quot; -d {build.mcu} {program.verbose} {program.extra_params} program -c -f &quot;{build.path}\{build.project_name}.hex&quot;" tools.atprogram.program.xpattern="&quot;{cmd.path}&quot; {AVRSTUDIO_BACKEND_CONNECTION} -d {build.mcu} {program.verbose} {program.extra_params} program -c -f &quot;{build.path}\{build.project_name}.hex&quot;" version="1.6.7" compiler.warning_flags="-w" compiler.warning_flags.none="-w" compiler.warning_flags.default="" compiler.warning_flags.more="-Wall" compiler.warning_flags.all="-Wall -Wextra" compiler.path="{runtime.tools.avr-gcc.path}/bin/" compiler.c.cmd="avr-gcc" compiler.c.flags="-c -g -Os {compiler.warning_flags} -ffunction-sections -fdata-sections -MMD" compiler.c.elf.flags="{compiler.warning_flags} -Os -Wl,--gc-sections" compiler.c.elf.cmd="avr-gcc" compiler.S.flags="-c -g -x assembler-with-cpp" compiler.cpp.cmd="avr-g++" compiler.cpp.flags="-c -g -Os {compiler.warning_flags} -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -MMD" compiler.ar.cmd="avr-ar" compiler.ar.flags="rcs" compiler.objcopy.cmd="avr-objcopy" compiler.objcopy.eep.flags="-O ihex -j .eeprom --set-section-flags=.eeprom=alloc,load --no-change-warnings --change-section-lma .eeprom=0" compiler.elf2hex.flags="-O ihex -R .eeprom" compiler.elf2hex.cmd="avr-objcopy" compiler.ldflags="" compiler.size.cmd="avr-size" build.extra_flags="" compiler.c.extra_flags="" compiler.c.elf.extra_flags="" compiler.S.extra_flags="" compiler.cpp.extra_flags="" compiler.ar.extra_flags="" compiler.objcopy.eep.extra_flags="" compiler.elf2hex.extra_flags="" recipe.c.o.pattern="&quot;{compiler.path}{compiler.c.cmd}&quot; {compiler.c.flags} -mmcu={build.mcu} -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {compiler.c.extra_flags} {build.extra_flags} {includes} &quot;{source_file}&quot; -o &quot;{object_file}&quot;" recipe.cpp.o.pattern="&quot;{compiler.path}{compiler.cpp.cmd}&quot; {compiler.cpp.flags} -mmcu={build.mcu} -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {compiler.cpp.extra_flags} {build.extra_flags} {includes} &quot;{source_file}&quot; -o &quot;{object_file}&quot;" recipe.S.o.pattern="&quot;{compiler.path}{compiler.c.cmd}&quot; {compiler.S.flags} -mmcu={build.mcu} -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {compiler.S.extra_flags} {build.extra_flags} {includes} &quot;{source_file}&quot; -o &quot;{object_file}&quot;" recipe.ar.pattern="&quot;{compiler.path}{compiler.ar.cmd}&quot; {compiler.ar.flags} {compiler.ar.extra_flags} &quot;{build.path}/{archive_file}&quot; &quot;{object_file}&quot;" recipe.c.combine.pattern="&quot;{compiler.path}{compiler.c.elf.cmd}&quot; {compiler.c.elf.flags} -mmcu={build.mcu} {compiler.c.elf.extra_flags} -o &quot;{build.path}/{build.project_name}.elf&quot; {object_files} &quot;{build.path}/{archive_file}&quot; &quot;-L{build.path}&quot; -lm" recipe.objcopy.eep.pattern="&quot;{compiler.path}{compiler.objcopy.cmd}&quot; {compiler.objcopy.eep.flags} {compiler.objcopy.eep.extra_flags} &quot;{build.path}/{build.project_name}.elf&quot; &quot;{build.path}/{build.project_name}.eep&quot;" recipe.objcopy.hex.pattern="&quot;{compiler.path}{compiler.elf2hex.cmd}&quot; {compiler.elf2hex.flags} {compiler.elf2hex.extra_flags} &quot;{build.path}/{build.project_name}.elf&quot; &quot;{build.path}/{build.project_name}.hex&quot;" recipe.size.pattern="&quot;{compiler.path}{compiler.size.cmd}&quot; -A &quot;{build.path}/{build.project_name}.elf&quot;" recipe.size.regex="^(?:\.text|\.data|\.bootloader)\s+([0-9]+).*" recipe.size.regex.data="^(?:\.data|\.bss|\.noinit)\s+([0-9]+).*" recipe.size.regex.eeprom="^(?:\.eeprom)\s+([0-9]+).*" tools.avrdude.path="{runtime.tools.avrdude.path}" tools.avrdude.cmd.path="{path}/bin/avrdude" tools.avrdude.config.path="{path}/etc/avrdude.conf" tools.avrdude.upload.params.verbose="-v" tools.avrdude.upload.params.quiet="-q -q" tools.avrdude.upload.pattern="&quot;{cmd.path}&quot; &quot;-C{config.path}&quot; {upload.verbose} -p{build.mcu} -c{upload.protocol} -P{serial.port} -b{upload.speed} -D &quot;-Uflash:w:{build.path}/{build.project_name}.hex:i&quot;" tools.avrdude.program.params.verbose="-v" tools.avrdude.program.params.quiet="-q -q" tools.avrdude.program.pattern="&quot;{cmd.path}&quot; &quot;-C{config.path}&quot; {program.verbose} -p{build.mcu} -c{protocol} {program.extra_params} &quot;-Uflash:w:{build.path}/{build.project_name}.hex:i&quot;" tools.avrdude.erase.params.verbose="-v" tools.avrdude.erase.params.quiet="-q -q" tools.avrdude.erase.pattern="&quot;{cmd.path}&quot; &quot;-C{config.path}&quot; {erase.verbose} -p{build.mcu} -c{protocol} {program.extra_params} -e -Ulock:w:{bootloader.unlock_bits}:m -Uefuse:w:{bootloader.extended_fuses}:m -Uhfuse:w:{bootloader.high_fuses}:m -Ulfuse:w:{bootloader.low_fuses}:m" tools.avrdude.bootloader.params.verbose="-v" tools.avrdude.bootloader.params.quiet="-q -q" tools.avrdude.bootloader.pattern="&quot;{cmd.path}&quot; &quot;-C{config.path}&quot; {bootloader.verbose} -p{build.mcu} -c{protocol} {program.extra_params} &quot;-Uflash:w:{runtime.platform.path}/bootloaders/{bootloader.file}:i&quot; -Ulock:w:{bootloader.lock_bits}:m" build.usb_manufacturer="&quot;Unknown&quot;" build.usb_flags="-DUSB_VID={build.vid} -DUSB_PID={build.pid} '-DUSB_MANUFACTURER={build.usb_manufacturer}' '-DUSB_PRODUCT={build.usb_product}'" vm.platform.root.path="C:\Program Files (x86)\Visual Micro\Visual Micro for Arduino\Micro Platforms\arduino16x" upload.protocol="wiring" upload.maximum_size="253952" upload.speed="115200" bootloader.high_fuses="0xD8" bootloader.extended_fuses="0xFD" bootloader.file="stk500v2/stk500boot_v2_mega2560.hex" build.mcu="atmega2560" ide.hint="Arduino 1.6 Ide" ide.location.key="Arduino16x" ide.location.ide.winreg="Arduino 1.6.x Application" ide.location.sketchbook.winreg="Arduino 1.6.x Sketchbook" ide.location.sketchbook.preferences="sketchbook.path" ide.location.preferences="%VM_APPDATA_ROAMING%\arduino15\preferences.txt" ide.location.preferences_fallback="%VM_APPDATA_ROAMING%\arduino\preferences.txt" ide.default.version="160" ide.default.package="arduino" ide.default.platform="avr" ide.multiplatform="true" ide.includes="arduino.h" ide.platformswithoutpackage="false" ide.includes.fallback="wprogram.h" ide.extension="ino" ide.extension.fallback="pde" ide.versionGTEQ="160" ide.exe="arduino.exe" ide.hosts="atmel" ide.url="http://arduino.cc/en/Main/Software" vm.debug="true" software="ARDUINO" ssh.user.name="root" ssh.user.default.password="arduino" ssh.host.wwwfiles.path="/www/sd" build.working_directory="{runtime.ide.path}" ide.appid="arduino16x" location.sketchbook="C:\Users\OAPfive\Documents\Arduino" build.core.vmresolved="C:\Program Files (x86)\Arduino\hardware\arduino\avr\cores\arduino" build.core.parentfolder.vmresolved="C:\Program Files (x86)\Arduino\hardware\arduino\avr\cores" build.core.coresparentfolder.vmresolved="C:\Program Files (x86)\Arduino\hardware\arduino\avr" vm.core.include="arduino.h" vm.boardsource.path="C:\Program Files (x86)\Arduino\hardware\arduino\avr" runtime.platform.path="C:\Program Files (x86)\Arduino\hardware\arduino\avr" vm.platformname.name="avr" build.arch="AVR" build.variant.vmresolved="C:\Program Files (x86)\Arduino\hardware\arduino\avr\variants\mega" vm.runtime.compiler.showwarnings="true" serial.port.file="COM6" serial.port="COM6" includes=" -I&quot;C:\Program Files (x86)\Arduino\hardware\arduino\avr\cores\arduino&quot; -I&quot;C:\Program Files (x86)\Arduino\hardware\arduino\avr\variants\mega&quot; -I&quot;C:\Program Files (x86)\Arduino\hardware\arduino\avr\libraries\SPI&quot; -I&quot;C:\Program Files (x86)\Arduino\libraries\Ethernet\src&quot; -I&quot;C:\Program Files (x86)\Arduino\libraries\Servo\src&quot; -I&quot;C:\Program Files (x86)\Arduino\hardware\arduino\avr\libraries\Wire&quot; -I&quot;C:\Program Files (x86)\Arduino\libraries&quot; -I&quot;C:\Program Files (x86)\Arduino\hardware\arduino\avr\libraries&quot; -I&quot;C:\Program Files (x86)\Visual Micro\Visual Micro for Arduino\Micro Platforms\default\debuggers&quot; -I&quot;C:\Users\OAPfive\Documents\Arduino\libraries&quot; -I&quot;C:\Program Files (x86)\Arduino\hardware\arduino\avr\libraries\Wire\utility&quot;" build.path="C:\Users\OAPfive\AppData\Local\V.Micro\Arduino\Builds\roverCode\mega_atmega2560" build.project_name="roverCode" build.variant.path="C:\Program Files (x86)\Arduino\hardware\arduino\avr\variants\mega" archive_file="core.a" object_file="C:\Users\OAPfive\AppData\Local\V.Micro\Arduino\Builds\roverCode\mega_atmega2560\Wire\utility\twi.c.o" source_file="C:\Program Files (x86)\Arduino\hardware\arduino\avr\libraries\Wire\utility\twi.c" />
</Platform>
<Compile IsDebugStart="1" IsCompiled="0" ConfigurationName="Debug" StopOnError="False" OptimiseLibs="True" OptimiseCore="True" BuildPath="C:\Users\OAPfive\AppData\Local\V.Micro\Arduino\Builds\roverCode\mega_atmega2560" IncludeDebug="0" IncludesDebug="0" SketchName="roverCode" CompilerErrors="1" />
<Debug DebugEnabled="0" EnableBreak="1" />
<VCCodeModel>
<VCCodeMacros />
</VCCodeModel>
</Program>
</VisualMicro>
\ No newline at end of file
<VisualMicro>
<Program Name="roverCode" Ext=".ino" Location="C:\Users\OAPfive\Documents\Arduino\roverCode">
<Platform Name="arduino16x" Package="arduino" Platform="avr" Architecture="avr">
<Board Name="mega_atmega2560" Description="Arduino Mega w/ ATmega2560 (Mega 2560)" CoreFolder="C:\Program Files (x86)\Arduino\hardware\arduino\avr\cores\arduino" VariantFullPath="C:\Program Files (x86)\Arduino\hardware\arduino\avr\variants\mega" McuIdePath="C:\Program Files (x86)\Arduino" McuSketchBookPath="C:\Users\OAPfive\Documents\Arduino" name="Arduino Mega w/ ATmega2560 (Mega 2560)" vid.0="0x2341" pid.0="0x0010" vid.1="0x2341" pid.1="0x0042" vid.2="0x2A03" pid.2="0x0010" vid.3="0x2A03" pid.3="0x0042" upload.tool="avrdude" upload.maximum_data_size="8192" bootloader.tool="avrdude" bootloader.low_fuses="0xFF" bootloader.unlock_bits="0x3F" bootloader.lock_bits="0x0F" build.f_cpu="16000000L" build.core="arduino" build.variant="mega" build.board="AVR_MEGA2560" menu.cpu.atmega2560="ATmega2560 (Mega 2560)" menu.cpu.atmega2560.upload.protocol="wiring" menu.cpu.atmega2560.upload.maximum_size="253952" menu.cpu.atmega2560.upload.speed="115200" menu.cpu.atmega2560.bootloader.high_fuses="0xD8" menu.cpu.atmega2560.bootloader.extended_fuses="0xFD" menu.cpu.atmega2560.bootloader.file="stk500v2/stk500boot_v2_mega2560.hex" menu.cpu.atmega2560.build.mcu="atmega2560" menu.cpu.atmega2560.build.board="AVR_MEGA2560" menu.cpu.atmega1280="ATmega1280" menu.cpu.atmega1280.upload.protocol="arduino" menu.cpu.atmega1280.upload.maximum_size="126976" menu.cpu.atmega1280.upload.speed="57600" menu.cpu.atmega1280.bootloader.high_fuses="0xDA" menu.cpu.atmega1280.bootloader.extended_fuses="0xF5" menu.cpu.atmega1280.bootloader.file="atmega/ATmegaBOOT_168_atmega1280.hex" menu.cpu.atmega1280.build.mcu="atmega1280" menu.cpu.atmega1280.build.board="AVR_MEGA" runtime.ide.path="C:\Program Files (x86)\Arduino" build.system.path="C:\Program Files (x86)\Arduino\hardware\arduino\avr\system" runtime.ide.version="164" originalid="mega" tools.atprogram.cmd.path="%AVRSTUDIO_EXE_PATH%\atbackend\atprogram" tools.atprogram.cmd.setwinpath="true" tools.atprogram.program.params.verbose="-v" tools.atprogram.program.params.quiet="-q" tools.atprogram.program.pattern="&quot;{cmd.path}&quot; -d {build.mcu} {program.verbose} {program.extra_params} program -c -f &quot;{build.path}\{build.project_name}.hex&quot;" tools.atprogram.program.xpattern="&quot;{cmd.path}&quot; {AVRSTUDIO_BACKEND_CONNECTION} -d {build.mcu} {program.verbose} {program.extra_params} program -c -f &quot;{build.path}\{build.project_name}.hex&quot;" version="1.6.7" compiler.warning_flags="-w" compiler.warning_flags.none="-w" compiler.warning_flags.default="" compiler.warning_flags.more="-Wall" compiler.warning_flags.all="-Wall -Wextra" compiler.path="{runtime.tools.avr-gcc.path}/bin/" compiler.c.cmd="avr-gcc" compiler.c.flags="-c -g -Os {compiler.warning_flags} -ffunction-sections -fdata-sections -MMD" compiler.c.elf.flags="{compiler.warning_flags} -Os -Wl,--gc-sections" compiler.c.elf.cmd="avr-gcc" compiler.S.flags="-c -g -x assembler-with-cpp" compiler.cpp.cmd="avr-g++" compiler.cpp.flags="-c -g -Os {compiler.warning_flags} -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -MMD" compiler.ar.cmd="avr-ar" compiler.ar.flags="rcs" compiler.objcopy.cmd="avr-objcopy" compiler.objcopy.eep.flags="-O ihex -j .eeprom --set-section-flags=.eeprom=alloc,load --no-change-warnings --change-section-lma .eeprom=0" compiler.elf2hex.flags="-O ihex -R .eeprom" compiler.elf2hex.cmd="avr-objcopy" compiler.ldflags="" compiler.size.cmd="avr-size" build.extra_flags="" compiler.c.extra_flags="" compiler.c.elf.extra_flags="" compiler.S.extra_flags="" compiler.cpp.extra_flags="" compiler.ar.extra_flags="" compiler.objcopy.eep.extra_flags="" compiler.elf2hex.extra_flags="" recipe.c.o.pattern="&quot;{compiler.path}{compiler.c.cmd}&quot; {compiler.c.flags} -mmcu={build.mcu} -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {compiler.c.extra_flags} {build.extra_flags} {includes} &quot;{source_file}&quot; -o &quot;{object_file}&quot;" recipe.cpp.o.pattern="&quot;{compiler.path}{compiler.cpp.cmd}&quot; {compiler.cpp.flags} -mmcu={build.mcu} -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {compiler.cpp.extra_flags} {build.extra_flags} {includes} &quot;{source_file}&quot; -o &quot;{object_file}&quot;" recipe.S.o.pattern="&quot;{compiler.path}{compiler.c.cmd}&quot; {compiler.S.flags} -mmcu={build.mcu} -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {compiler.S.extra_flags} {build.extra_flags} {includes} &quot;{source_file}&quot; -o &quot;{object_file}&quot;" recipe.ar.pattern="&quot;{compiler.path}{compiler.ar.cmd}&quot; {compiler.ar.flags} {compiler.ar.extra_flags} &quot;{build.path}/{archive_file}&quot; &quot;{object_file}&quot;" recipe.c.combine.pattern="&quot;{compiler.path}{compiler.c.elf.cmd}&quot; {compiler.c.elf.flags} -mmcu={build.mcu} {compiler.c.elf.extra_flags} -o &quot;{build.path}/{build.project_name}.elf&quot; {object_files} &quot;{build.path}/{archive_file}&quot; &quot;-L{build.path}&quot; -lm" recipe.objcopy.eep.pattern="&quot;{compiler.path}{compiler.objcopy.cmd}&quot; {compiler.objcopy.eep.flags} {compiler.objcopy.eep.extra_flags} &quot;{build.path}/{build.project_name}.elf&quot; &quot;{build.path}/{build.project_name}.eep&quot;" recipe.objcopy.hex.pattern="&quot;{compiler.path}{compiler.elf2hex.cmd}&quot; {compiler.elf2hex.flags} {compiler.elf2hex.extra_flags} &quot;{build.path}/{build.project_name}.elf&quot; &quot;{build.path}/{build.project_name}.hex&quot;" recipe.size.pattern="&quot;{compiler.path}{compiler.size.cmd}&quot; -A &quot;{build.path}/{build.project_name}.elf&quot;" recipe.size.regex="^(?:\.text|\.data|\.bootloader)\s+([0-9]+).*" recipe.size.regex.data="^(?:\.data|\.bss|\.noinit)\s+([0-9]+).*" recipe.size.regex.eeprom="^(?:\.eeprom)\s+([0-9]+).*" tools.avrdude.path="{runtime.tools.avrdude.path}" tools.avrdude.cmd.path="{path}/bin/avrdude" tools.avrdude.config.path="{path}/etc/avrdude.conf" tools.avrdude.upload.params.verbose="-v" tools.avrdude.upload.params.quiet="-q -q" tools.avrdude.upload.pattern="&quot;{cmd.path}&quot; &quot;-C{config.path}&quot; {upload.verbose} -p{build.mcu} -c{upload.protocol} -P{serial.port} -b{upload.speed} -D &quot;-Uflash:w:{build.path}/{build.project_name}.hex:i&quot;" tools.avrdude.program.params.verbose="-v" tools.avrdude.program.params.quiet="-q -q" tools.avrdude.program.pattern="&quot;{cmd.path}&quot; &quot;-C{config.path}&quot; {program.verbose} -p{build.mcu} -c{protocol} {program.extra_params} &quot;-Uflash:w:{build.path}/{build.project_name}.hex:i&quot;" tools.avrdude.erase.params.verbose="-v" tools.avrdude.erase.params.quiet="-q -q" tools.avrdude.erase.pattern="&quot;{cmd.path}&quot; &quot;-C{config.path}&quot; {erase.verbose} -p{build.mcu} -c{protocol} {program.extra_params} -e -Ulock:w:{bootloader.unlock_bits}:m -Uefuse:w:{bootloader.extended_fuses}:m -Uhfuse:w:{bootloader.high_fuses}:m -Ulfuse:w:{bootloader.low_fuses}:m" tools.avrdude.bootloader.params.verbose="-v" tools.avrdude.bootloader.params.quiet="-q -q" tools.avrdude.bootloader.pattern="&quot;{cmd.path}&quot; &quot;-C{config.path}&quot; {bootloader.verbose} -p{build.mcu} -c{protocol} {program.extra_params} &quot;-Uflash:w:{runtime.platform.path}/bootloaders/{bootloader.file}:i&quot; -Ulock:w:{bootloader.lock_bits}:m" build.usb_manufacturer="&quot;Unknown&quot;" build.usb_flags="-DUSB_VID={build.vid} -DUSB_PID={build.pid} '-DUSB_MANUFACTURER={build.usb_manufacturer}' '-DUSB_PRODUCT={build.usb_product}'" vm.platform.root.path="C:\Program Files (x86)\Visual Micro\Visual Micro for Arduino\Micro Platforms\arduino16x" upload.protocol="wiring" upload.maximum_size="253952" upload.speed="115200" bootloader.high_fuses="0xD8" bootloader.extended_fuses="0xFD" bootloader.file="stk500v2/stk500boot_v2_mega2560.hex" build.mcu="atmega2560" ide.hint="Arduino 1.6 Ide" ide.location.key="Arduino16x" ide.location.ide.winreg="Arduino 1.6.x Application" ide.location.sketchbook.winreg="Arduino 1.6.x Sketchbook" ide.location.sketchbook.preferences="sketchbook.path" ide.location.preferences="%VM_APPDATA_ROAMING%\arduino15\preferences.txt" ide.location.preferences_fallback="%VM_APPDATA_ROAMING%\arduino\preferences.txt" ide.default.version="160" ide.default.package="arduino" ide.default.platform="avr" ide.multiplatform="true" ide.includes="arduino.h" ide.platformswithoutpackage="false" ide.includes.fallback="wprogram.h" ide.extension="ino" ide.extension.fallback="pde" ide.versionGTEQ="160" ide.exe="arduino.exe" ide.hosts="atmel" ide.url="http://arduino.cc/en/Main/Software" vm.debug="true" software="ARDUINO" ssh.user.name="root" ssh.user.default.password="arduino" ssh.host.wwwfiles.path="/www/sd" build.working_directory="{runtime.ide.path}" ide.appid="arduino16x" location.sketchbook="C:\Users\OAPfive\Documents\Arduino" build.core.vmresolved="C:\Program Files (x86)\Arduino\hardware\arduino\avr\cores\arduino" build.core.parentfolder.vmresolved="C:\Program Files (x86)\Arduino\hardware\arduino\avr\cores" build.core.coresparentfolder.vmresolved="C:\Program Files (x86)\Arduino\hardware\arduino\avr" vm.core.include="arduino.h" vm.boardsource.path="C:\Program Files (x86)\Arduino\hardware\arduino\avr" runtime.platform.path="C:\Program Files (x86)\Arduino\hardware\arduino\avr" vm.platformname.name="avr" build.arch="AVR" build.variant.vmresolved="C:\Program Files (x86)\Arduino\hardware\arduino\avr\variants\mega" vm.runtime.compiler.showwarnings="true" serial.port.file="COM6" serial.port="COM6" includes=" -I&quot;C:\Program Files (x86)\Arduino\hardware\arduino\avr\cores\arduino&quot; -I&quot;C:\Program Files (x86)\Arduino\hardware\arduino\avr\variants\mega&quot; -I&quot;C:\Program Files (x86)\Arduino\hardware\arduino\avr\libraries\SPI&quot; -I&quot;C:\Program Files (x86)\Arduino\libraries\Ethernet\src&quot; -I&quot;C:\Program Files (x86)\Arduino\libraries\Servo\src&quot; -I&quot;C:\Program Files (x86)\Arduino\hardware\arduino\avr\libraries\Wire&quot; -I&quot;C:\Program Files (x86)\Arduino\libraries&quot; -I&quot;C:\Program Files (x86)\Arduino\hardware\arduino\avr\libraries&quot; -I&quot;C:\Program Files (x86)\Visual Micro\Visual Micro for Arduino\Micro Platforms\default\debuggers&quot; -I&quot;C:\Users\OAPfive\Documents\Arduino\libraries&quot; -I&quot;C:\Program Files (x86)\Arduino\hardware\arduino\avr\libraries\Wire\utility&quot;" build.path="C:\Users\OAPfive\AppData\Local\V.Micro\Arduino\Builds\roverCode\mega_atmega2560" build.project_name="roverCode" build.variant.path="C:\Program Files (x86)\Arduino\hardware\arduino\avr\variants\mega" archive_file="core.a" object_file="C:\Users\OAPfive\AppData\Local\V.Micro\Arduino\Builds\roverCode\mega_atmega2560\Wire\utility\twi.c.o" source_file="C:\Program Files (x86)\Arduino\hardware\arduino\avr\libraries\Wire\utility\twi.c" />
</Platform>
<Compile IsDebugStart="1" IsCompiled="0" CompilerErrors="0" ConfigurationName="Debug" StopOnError="False" OptimiseLibs="True" OptimiseCore="True" BuildPath="C:\Users\OAPfive\AppData\Local\V.Micro\Arduino\Builds\roverCode\mega_atmega2560" />
<Debug DebugEnabled="0" EnableBreak="1" />
</Program>
</VisualMicro>
\ No newline at end of file
......@@ -4,7 +4,7 @@ void initializeGPS()
}
// sends gps data over UDP to the rover
void sendGpsData()
void updateGPS()
{
Udp.beginPacket(Udp.remoteIP(), Udp.remotePort());
Udp.write("N" + GPS.latitude);
......
// HARDWARE: Arduino MEGA 2560
#include "Arduino.h"
#include <Adafruit_GPA.h> // include this file in the Arduino libraries folder
//#include <Adafruit_GPS.h> // include this file in the Arduino libraries folder
#include <Servo.h>
#include <SPI.h>
#include <Ethernet.h>
#include <EthernetUdp.h>
//#include <SoftwareSerial.h>
#include <Wire.h>
void setup()
......@@ -13,7 +14,7 @@ void setup()
attachArmMotors();
attachHandMotors();
initializeWireless();
initializeGPS();
// initializeGPS();
}
void loop()
......@@ -25,5 +26,5 @@ void loop()
writeToDriveMotors();
writeToArmMotors();
writeToHandMotors();
updateGPS();
// updateGPS();
}
// May 22, 2015. Husky Robotics, made by Electrical Team
#include "Arduino.h"
#include <Adafruit_GPA.h> // include this file in the Arduino libraries folder
//#include <Adafruit_GPS.h> // include this file in the Arduino libraries folder
#include <Servo.h>
#include <SPI.h>
#include <Ethernet.h>
#include <EthernetUdp.h>
//#include <SoftwareSerial.h>
#include <Wire.h>
......

Microsoft Visual Studio Solution File, Format Version 12.00
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&quot;{object_file}&quot;&#xD;&#xA;recipe.c.combine.pattern=&quot;{compiler.path}{compiler.c.elf.cmd}&quot; {compiler.c.elf.flags} -mmcu={build.mcu} {compiler.c.elf.extra_flags} -o &quot;{build.path}/{build.project_name}.elf&quot; {object_files} &quot;{build.path}/{archive_file}&quot; &quot;-L{build.path}&quot; -lm&#xD;&#xA;recipe.objcopy.eep.pattern=&quot;{compiler.path}{compiler.objcopy.cmd}&quot; {compiler.objcopy.eep.flags} {compiler.objcopy.eep.extra_flags} &quot;{build.path}/{build.project_name}.elf&quot; &quot;{build.path}/{build.project_name}.eep&quot;&#xD;&#xA;recipe.objcopy.hex.pattern=&quot;{compiler.path}{compiler.elf2hex.cmd}&quot; {compiler.elf2hex.flags} {compiler.elf2hex.extra_flags} &quot;{build.path}/{build.project_name}.elf&quot; &quot;{build.path}/{build.project_name}.hex&quot;&#xD;&#xA;recipe.size.pattern=&quot;{compiler.path}{compiler.size.cmd}&quot; -A &quot;{build.path}/{build.project_name}.elf&quot;&#xD;&#xA;recipe.size.regex=^(?:\.text|\.data|\.bootloader)\s+([0-9]+).*&#xD;&#xA;recipe.size.regex.data=^(?:\.data|\.bss|\.noinit)\s+([0-9]+).*&#xD;&#xA;recipe.size.regex.eeprom=^(?:\.eeprom)\s+([0-9]+).*&#xD;&#xA;tools.avrdude.path={runtime.tools.avrdude.path}&#xD;&#xA;tools.avrdude.cmd.path={path}/bin/avrdude&#xD;&#xA;tools.avrdude.config.path={path}/etc/avrdude.conf&#xD;&#xA;tools.avrdude.upload.params.verbose=-v&#xD;&#xA;tools.avrdude.upload.params.quiet=-q -q&#xD;&#xA;tools.avrdude.upload.pattern=&quot;{cmd.path}&quot; 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&quot;-C{config.path}&quot; {bootloader.verbose} -p{build.mcu} -c{protocol} {program.extra_params} &quot;-Uflash:w:{runtime.platform.path}/bootloaders/{bootloader.file}:i&quot; -Ulock:w:{bootloader.lock_bits}:m&#xD;&#xA;build.usb_manufacturer=&quot;Unknown&quot;&#xD;&#xA;build.usb_flags=-DUSB_VID={build.vid} -DUSB_PID={build.pid} '-DUSB_MANUFACTURER={build.usb_manufacturer}' '-DUSB_PRODUCT={build.usb_product}'&#xD;&#xA;vm.platform.root.path=C:\Program Files (x86)\Visual Micro\Visual Micro for Arduino\Micro Platforms\arduino16x&#xD;&#xA;upload.protocol=wiring&#xD;&#xA;upload.maximum_size=253952&#xD;&#xA;upload.speed=115200&#xD;&#xA;bootloader.high_fuses=0xD8&#xD;&#xA;bootloader.extended_fuses=0xFD&#xD;&#xA;bootloader.file=stk500v2/stk500boot_v2_mega2560.hex&#xD;&#xA;build.mcu=atmega2560&#xD;&#xA;ide.hint=Arduino 1.6 Ide&#xD;&#xA;ide.location.key=Arduino16x&#xD;&#xA;ide.location.ide.winreg=Arduino 1.6.x Application&#xD;&#xA;ide.location.sketchbook.winreg=Arduino 1.6.x Sketchbook&#xD;&#xA;ide.location.sketchbook.preferences=sketchbook.path&#xD;&#xA;ide.location.preferences=%VM_APPDATA_ROAMING%\arduino15\preferences.txt&#xD;&#xA;ide.location.preferences_fallback=%VM_APPDATA_ROAMING%\arduino\preferences.txt&#xD;&#xA;ide.default.version=160&#xD;&#xA;ide.default.package=arduino&#xD;&#xA;ide.default.platform=avr&#xD;&#xA;ide.multiplatform=true&#xD;&#xA;ide.includes=arduino.h&#xD;&#xA;ide.platformswithoutpackage=false&#xD;&#xA;ide.includes.fallback=wprogram.h&#xD;&#xA;ide.extension=ino&#xD;&#xA;ide.extension.fallback=pde&#xD;&#xA;ide.versionGTEQ=160&#xD;&#xA;ide.exe=arduino.exe&#xD;&#xA;ide.hosts=atmel&#xD;&#xA;ide.url=http://arduino.cc/en/Main/Software&#xD;&#xA;vm.debug=true&#xD;&#xA;software=ARDUINO&#xD;&#xA;ssh.user.name=root&#xD;&#xA;ssh.user.default.password=arduino&#xD;&#xA;ssh.host.wwwfiles.path=/www/sd&#xD;&#xA;build.working_directory={runtime.ide.path}&#xD;&#xA;ide.appid=arduino16x&#xD;&#xA;location.sketchbook=C:\Users\OAPfive\Documents\Arduino&#xD;&#xA;vm.core.include=arduino.h&#xD;&#xA;vm.boardsource.path=C:\Program Files (x86)\Arduino\hardware\arduino\avr&#xD;&#xA;runtime.platform.path=C:\Program Files (x86)\Arduino\hardware\arduino\avr&#xD;&#xA;vm.platformname.name=avr&#xD;&#xA;build.arch=AVR&#xD;&#xA;" visualmicro.application.name="arduino16x" arduino.build.mcu="atmega2560" arduino.upload.protocol="wiring" arduino.build.f_cpu="16000000L" arduino.board.desc="Arduino Mega w/ ATmega2560 (Mega 2560)" arduino.board.name="mega_atmega2560" arduino.upload.port="COM6" visualmicro.platform.name="avr" arduino.build.core="arduino" />
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// this sketch will allow you to bypass the Atmega chip
// and connect the GPS sensor directly to the USB/Serial
// chip converter.
// Connect VIN to +5V
// Connect GND to Ground
// Connect GPS RX (data into GPS) to Digital 0
// Connect GPS TX (data out from GPS) to Digital 1
void setup() {}
void loop() {}
// Test code for Adafruit GPS modules using MTK3329/MTK3339 driver
//
// This code shows how to listen to the GPS module in an interrupt
// which allows the program to have more 'freedom' - just parse
// when a new NMEA sentence is available! Then access data when
// desired.
//
// Tested and works great with the Adafruit Ultimate GPS module
// using MTK33x9 chipset
// ------> http://www.adafruit.com/products/746
// Pick one up today at the Adafruit electronics shop
// and help support open source hardware & software! -ada
#include <Adafruit_GPS.h>
// This sketch is ONLY for the Arduino Due!
// You should make the following connections with the Due and GPS module:
// GPS power pin to Arduino Due 3.3V output.
// GPS ground pin to Arduino Due ground.
// For hardware serial 1 (recommended):
// GPS TX to Arduino Due Serial1 RX pin 19
// GPS RX to Arduino Due Serial1 TX pin 18
#define mySerial Serial1
Adafruit_GPS GPS(&mySerial);
// Set GPSECHO to 'false' to turn off echoing the GPS data to the Serial console
// Set to 'true' if you want to debug and listen to the raw GPS sentences.
#define GPSECHO true
// this keeps track of whether we're using the interrupt
// off by default!
boolean usingInterrupt = false;
void useInterrupt(boolean); // Func prototype keeps Arduino 0023 happy
void setup()
{
// connect at 115200 so we can read the GPS fast enough and echo without dropping chars
// also spit it out
Serial.begin(115200);
Serial.println("Adafruit GPS library basic test!");
// 9600 NMEA is the default baud rate for Adafruit MTK GPS's- some use 4800
GPS.begin(9600);
mySerial.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