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This is not my complete project....as of 12/20/18....well it's Christmas 12/25/18 I feel I'm done!!!!
I must give thanks to the many other robot developers' whose code examples were viewed, tested, modified, trashed, revised again, HOPEFULLY I have acknowledged you by leaving your notes in my code examples that were included here.
What Do I Build Next? An autonomous 4 wheel robot that utilizes the Sony Spresense to aid with obstacle avoidance, navigation and video streaming...
Well, that's my goal for this contest... so I sent in my idea back on November 19, 2018. I did not think I'd be selected for any of the free hardware: "Spresense development board": (a Sony Spresense Main board, a Spresense Extension Board, and a Sony Spresense Camera Board)
After submitting project Idea I researched cost/availability of Sony Spresense modules and camera... ~$110 USD, but I couldn't find camera module...( https://shop.framos.com/us/spresense/?utm_source=sony_website&utm_medium=referral&utm_campaign=spresense )
I next, unfortunately, felt uneasy "a scam in progress by the Organization" to get users to buy a new product. I wasn't going to pay $200 to buy unreleased hardware without support. I have been "burned" before with "Kickstarter/Indiegogo/CrowdFunding" projects....BUT I WAS proved wrong!!!!
THANK YOU HACKSTER.IO and SONY!!!!!!!!!!
Contest Constraints: ______________________________
Timeline
Contest begins November 15, 2018 at 8:00AM PT
Applications for hardware close December 6, 2018 at 11:59PM PT
Hardware recipients announced December 13, 2018 at 11:59PM PT
Submissions close February 4, 2019 at 11:59PM PT
Winners announced by February, 11 2019
________________________________
On December 14, (1:08pm) I recieved the email of acceptance; "You have been selected to receive one free Spresense development board from Sony based on "What Do I Build Next? An autonomous 4 wheel robot that utilizes the Spresense to aid with obstacle avoidance, navigation and video streaming," the idea application you submitted to Make It Better!"...WOW!!!
Now the important stuff, I am not going to act like I know ALL specs for this hardware. I will provide some of the links that helped me develop and hopefully build this project by February 4, 2019, ABOUT 6 weeks.
________________________________
Project Development Steps: (overcome shock of being selected)
Scope: Obstacle avoidance and environment mapping, navigation, video streaming, remote control using the Sony Spresense Development modules and camera
1. Robot Platform selection- 4 wheeled DC motor chassis
2. Hardware- chassis, IO Controller, DC Motors, servos, ultrasonic sensor, pan-n-tilt mount, battery, DC Motor/Servo controller, Bluetooth module, Sony Spresense Development Kit with Camera
3. IO requirements- DC motor drive, Servo Pan-n-tilt, Ultrasonic Distance sensing, Bluetooth control, Android Control App, Video Camera streaming, GPS positioning
4. Software- Arduino IDE, 1Sheeld Bluetooth Android App, Sony Spresense Arduino SDK
_______________________________
1. RESEARCH of the Sony Spresense Development Kit... good it's similair to the Arduino Uno.
2. RESEARCH... Overview.. important to read as the Spresense Main board is supplied without code/boot loader installed.
( https://developer.sony.com/develop/spresense/developer-tools/introduction )
3. RESEARCH...Resources
The Sony team and other participants are accessible for help and questions on the contest discussion tab. Here are some more resources to get you started:
•Sony Developer Portal ( https://developer.sony.com/develop/spresense/ )
•Spresense SDK and Arduino IDE documentation ( https://developer.sony.com/develop/spresense/developer-tools )
•Spresense specifications page ( https://developer.sony.com/develop/spresense/specifications )
I will be repurposing a two/four wheeled robot platform previously constructed to save time and costs. I know this hardware is functional. See a previous project: ( https://www.hackster.io/alien-energy-3/what-do-i-build-next-part-3-1sheeld-alamode-raspi-robot-bcbd7a )
A PiBot FrankenMonster- less 1SHEELD module
It appears that the Sony Spresense Development Board will eliminate some hardware modules that were stacked on top of each other. In previous robot builds, some sort of arduino board/shield controlled the DC motors, distance sensors and servos: the low-level stuff. The Raspberry Pi controlled the Video Streaming and Web Interface. It was the BRAIN.
Further research, I must decide whether to use the Arduino IDE (following information provided at: https://developer.sony.com/develop/spresense/developer-tools/get-started-using-arduino-ide ) or by using the Sony SDK (following information provided at: https://developer.sony.com/develop/spresense/developer-tools/get-started-using-nuttx ). Unfortunately, I do not have a laptop/desktop that has been setup with a 64bit Linux environment - Ubuntu 16.04.5 LTS ( http://releases.ubuntu.com/16.04/ ) or I would have attempted the Spresense SDK. I do have 64bit Windows 10 laptops and PC's available for programming with Arduino IDE, so its a no-brainer: Arduino it is.
Since the Sony Spresense is similiar to the Arduino UNO (see exceptions: https://developer.sony.com/develop/spresense/developer-tools/hardware-documentation ) I can begin development using one of my existing Projects with modifications. ( https://www.hackster.io/alien-energy-3/what-do-i-build-next-part-3-1sheeld-alamode-raspi-robot-bcbd7a ). I just needed to removed the Raspberry Pi B and the Alamode boards and add an Arduino UNO.
Next I needed to "re-learn/familiarize myself" with the 1Sheeld board ( https://1sheeld.com/ ) and coding for the Adafruit Motorshield v2.3 ( https://www.adafruit.com/product/1438 ) and getting my "pre-build proof of concept" build operational. This took 6 hours over this past weekend, less family holiday gatherings and regional football activities.
Here is DEMO build of base platform- Note: I am not the best at filming using two cell phones...! This video does not have Ultrasonic sensor code yet for environment sensing/obstacle avoidance.
My Sony Sespresense Kit arrived today--12/20/18. The Sony LED and Camera sketches uploaded and ran without issue (I couldn't figure out camera picture viewing yet)...so naturally I naturally jumped to...
Unpacking and assembly
1 / 8 • My Sony Spresense arrival
1 / 7 • what is this? to cover a chip!!!
1 / 5 • attaching the camera
Now, load drivers into Windows and libraries into Arduino IDE and firmware
1 / 6 • Arduino preference entry
1 / 8 • Find Spresense in Boards Manager
1 / 4 • extract the firmware files
1 / 8 • correct firmware upload...drop firmware zip onto screen
1st Sespresense code- Helloworld...LEDs naturally
My Demo build with 1Sheeld, Adafruit Motor Shield v2.3, 2 axis Pan-n-tilt did not compile due to an 1Sheeld library issue. I reverted back to a basic 4 DC motor with 2 servos just to test.
Now the basic 4DC Motor with 2 servos Adafruit Motor Shield v2.3 custom DEMO
Quick notes
Block code to expand and develop.
1 / 3 • notes for development
Somehow i managed to muck up my base test code trying to test gps, camera, wifi methods and i couldn't find the latest saved working version....lesson 101...error. Be careful where you save your code and what you named it.... trying to do too many changes at one time...
RECOVERY MODE!!!!!! lost a very long day
Managed to recover base code. It's not fully optimized for obstacle avoidance. (I had originally planned to use a 1Sheeld Arduino/Android shield to handle Bluetooth and various connectivity but it won't compile with the Sony Spresense, thus issues with a 3 pin Seeed Studio/Parallax PING Ultrasonic sensor and HC SR04 modules caused additional coding problems. The use of Adafruit's Motor Shield v2.3 and not v1 has caused another issue. Need a TFT display for the camera tie-in? Can't get GPS to lock onto any satellite. Need another Bluetooth/Wifi module for remote control/webserver/video streaming...)
Well, i managed to get camera to work... today. I installed a SD card. It took 100 pictures in a minute?.... i next used my "AVS4YOU" program to splice them together into a short demo video...
1 / 2 • Camera/GNSS_Tracker
I needed to use "AVS4YOU" audio and video software to assemble the 100 pictures taken by the CAMERA DEMO into a "video file"...be patient pictures do change. Good quality pictures even though I left BLUE plastic shipping tape over camera lense.
Next, i figured out how to get GPS working... outside, so i created a test using the gnss_tracker demo...to ensure it connected.
GNSS_Tracker DEMO locked on in approximately 120 seconds
Map My Walk screen
These tasks are so much easier with my cellphone...turn on bluetooth, GPS, open "Map my walk", let my phone connect to gps, start walking, turn on camera app...take a picture or video or live stream with facebook or skype....
So guess what i did...
Yup...Christmas Morning McGuyvered it!!!
I used an old servo box and a usb battery stick to make an enclosure for my portable Sony Spresense CameraModule/GNSS_Tracker. Each function needed to be loaded one at a time. I was using a 32 gb SD card for data/picture storage. I installed the Sony Camera module into a Raspberry Pi Camera enclosure...guess what it fit, too bad the supplied cable was way too short or I would have had a better looking assembly.
This box needed to be attached to the top of my robot Platform: 4-wheeled, Dagu chassis, 2 axis pan-n-tilt-Rocket Brand Studio, HC SR-04 Ultrasonic, Genuine UNO, Adafruit Motor Shield v2.3, 1SHEELD android Bluetooth Shield, 12 vdc battery pack-Linksprite/Cutedigi, 2xUltrafire 18650 4000mAh batteries, A Samsung S7- running "MAP MY WALK" App-2nd GPS map and with an ANDROID camera recording-also mounted to front of Robot. This will all be controlled, video'd from another Samsung S9 camera, also running "MAP MY WALK"-3rd gps map and the Robot control was the 1SHEELD Android App using the "GAMEPAD" module "I ended up not using the "Orientation SHIELD" which was tied to my 2 axis pan-n-tilt servos because of everything placed on it.
Needless to say, I collected alot of data, pictures, code snippets, many iterations of failed code, many stories and a stomach full of coffee. Its been an exciting week!!!
Below is my info researched after submission on 12/26/2018:
Today I found a website "GPS Visualizer" that'll take the GNSS_TRACKER data recorded and create a GOOGLE MAP!!! (http://www.gpsvisualizer.com/map?output_data)
(http://www.gpsvisualizer.com/map_input?form=data)
Google Map/GPS Visualizer
Doesn't quite overlay with my "MapMyWalk" picture...
MapMyWalk Android App
The "MapMyWalk"App (cellphone) showed what I actually drove with my "bot" up and down my front walk way....the Spresense data (McGuyverBot-GNSS_TRACKER) may have "drift" due to satellite lock-on/aquisition or noise. My cell phone and the GNSS demo both were started at same time while in my house. It was 2-3 minutes to get setup outside to start video recording and then the "walk/drive" on my walk-way...20 or so feet.
/*
This is a test sketch for the Adafruit assembled Motor Shield for Arduino v2
It won't work with v1.x motor shields! Only for the v2's with built in PWM
control
For use with the Adafruit Motor Shield v2
----> http://www.adafruit.com/products/1438
*/
/*
modified 8 Nov 2013
by Scott Fitzgerald
http://www.arduino.cc/en/Tutorial/Sweep
*/
#include <Servo.h>
#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include "utility/Adafruit_MS_PWMServoDriver.h"
// Create the motor shield object with the default I2C address
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
// Or, create it with a different I2C address (say for stacking)
// Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61);
// Select which 'port' M1, M2, M3 or M4. In this case, M1
Adafruit_DCMotor *myMotor = AFMS.getMotor(1);
// You can also make another motor on port M2
Adafruit_DCMotor *myMotor2 = AFMS.getMotor(2);
Adafruit_DCMotor *myMotor3 = AFMS.getMotor(3);
Adafruit_DCMotor *myMotor4 = AFMS.getMotor(4);
Servo myservo; // create servo object to control a servo
Servo myservo2; // create servo object to control a servo
// twelve servo objects can be created on most boards
int pos = 0; // variable to store the servo position
int pos2 = 0; // variable to store the servo position
void setup() {
Serial.begin(9600); // set up Serial library at 9600 bps
Serial.println("Adafruit Motorshield v2 - DC Motor test!");
myservo.attach(9); // attaches the servo on pin 9 to the servo object
myservo2.attach(10); // attaches the servo on pin 9 to the servo object
AFMS.begin(); // create with the default frequency 1.6KHz
//AFMS.begin(1000); // OR with a different frequency, say 1KHz
// Set the speed to start, from 0 (off) to 255 (max speed)
myMotor->setSpeed(25);
myMotor2->setSpeed(25);
myMotor3->setSpeed(25);
myMotor4->setSpeed(25);
myMotor->run(FORWARD);
myMotor2->run(FORWARD);
myMotor3->run(FORWARD);
myMotor4->run(FORWARD);
// turn on motor
myMotor->run(RELEASE);
myMotor2->run(RELEASE);
myMotor3->run(RELEASE);
myMotor4->run(RELEASE);
}
void loop() {
for (pos = 100; pos <= 150; pos += 1) { // goes from 0 degrees to 180 degrees
// in steps of 1 degree
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
for (pos = 150; pos >= 100; pos -= 1) { // goes from 180 degrees to 0 degrees
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
for (pos2 = 100; pos2 <= 150; pos2 += 1) { // goes from 0 degrees to 180 degrees
// in steps of 1 degree
myservo2.write(pos2); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
for (pos2 = 150; pos2 >= 100; pos2 -= 1) { // goes from 180 degrees to 0 degrees
myservo2.write(pos2); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
uint8_t i;
Serial.print("forward");
myMotor->run(FORWARD);
myMotor2->run(FORWARD);
myMotor3->run(FORWARD);
myMotor4->run(FORWARD);
for (i=0; i<50; i++) {
myMotor->setSpeed(50);
myMotor2->setSpeed(50);
myMotor3->setSpeed(50);
myMotor4->setSpeed(50);
delay(10);
}
// for (i=50; i!=0; i--) {
// myMotor->setSpeed(50);
// myMotor2->setSpeed(50);
// myMotor3->setSpeed(50);
// myMotor4->setSpeed(50);
// delay(10);
// }
Serial.print("turnrightforward");
myMotor->run(FORWARD);
myMotor2->run(FORWARD);
myMotor3->run(RELEASE);
myMotor4->run(RELEASE);
for (i=0; i<50; i++) {
myMotor->setSpeed(50);
myMotor2->setSpeed(50);
myMotor3->setSpeed(50);
myMotor4->setSpeed(50);
delay(10);
}
// for (i=50; i!=0; i--) {
// myMotor->setSpeed(50);
// myMotor2->setSpeed(50);
// myMotor3->setSpeed(50);
// myMotor4->setSpeed(50);
// delay(10);
// }
Serial.print("turnleftforward");
myMotor->run(RELEASE);
myMotor2->run(RELEASE);
myMotor3->run(FORWARD);
myMotor4->run(FORWARD);
for (i=0; i<50; i++) {
myMotor->setSpeed(50);
myMotor2->setSpeed(50);
myMotor3->setSpeed(50);
myMotor4->setSpeed(50);
delay(10);
}
// for (i=50; i!=0; i--) {
// myMotor->setSpeed(50);
// myMotor2->setSpeed(50);
// myMotor3->setSpeed(50);
// myMotor4->setSpeed(50);
// delay(10);
// }
Serial.print("backward");
myMotor->run(BACKWARD);
myMotor2->run(BACKWARD);
myMotor3->run(BACKWARD);
myMotor4->run(BACKWARD);
for (i=0; i<50; i++) {
myMotor->setSpeed(50);
myMotor2->setSpeed(50);
myMotor3->setSpeed(50);
myMotor4->setSpeed(50);
delay(10);
}
// for (i=50; i!=0; i--) {
// myMotor->setSpeed(50);
// myMotor2->setSpeed(50);
// myMotor3->setSpeed(50);
// myMotor4->setSpeed(50);
// delay(10);
// }
Serial.print("stop");
myMotor->run(RELEASE);
myMotor2->run(RELEASE);
myMotor3->run(RELEASE);
myMotor4->run(RELEASE);
delay(10);
Serial.print("pivotleft");
myMotor->run(BACKWARD);
myMotor2->run(BACKWARD);
myMotor3->run(FORWARD);
myMotor4->run(FORWARD);
for (i=0; i<50; i++) {
myMotor->setSpeed(50);
myMotor2->setSpeed(50);
myMotor3->setSpeed(50);
myMotor4->setSpeed(50);
delay(10);
}
// for (i=50; i!=0; i--) {
// myMotor->setSpeed(50);
// myMotor2->setSpeed(50);
// myMotor3->setSpeed(50);
// myMotor4->setSpeed(50);
// delay(10);
// }
Serial.print("turnleftbackward");
myMotor->run(BACKWARD);
myMotor2->run(BACKWARD);
myMotor3->run(RELEASE);
myMotor4->run(RELEASE);
for (i=0; i<50; i++) {
myMotor->setSpeed(50);
myMotor2->setSpeed(50);
myMotor3->setSpeed(50);
myMotor4->setSpeed(50);
delay(10);
}
// for (i=50; i!=0; i--) {
// myMotor->setSpeed(50);
// myMotor2->setSpeed(50);
// myMotor3->setSpeed(50);
// myMotor4->setSpeed(50);
// delay(10);
// }
Serial.print("turnrightbackward");
myMotor->run(RELEASE);
myMotor2->run(RELEASE);
myMotor3->run(BACKWARD);
myMotor4->run(BACKWARD);
for (i=0; i<50; i++) {
myMotor->setSpeed(50);
myMotor2->setSpeed(50);
myMotor3->setSpeed(50);
myMotor4->setSpeed(50);
delay(10);
}
// for (i=50; i!=0; i--) {
// myMotor->setSpeed(50);
// myMotor2->setSpeed(50);
// myMotor3->setSpeed(50);
// myMotor4->setSpeed(50);
// delay(10);
// }
Serial.print("pivotright");
myMotor->run(FORWARD);
myMotor2->run(FORWARD);
myMotor3->run(BACKWARD);
myMotor4->run(BACKWARD);
for (i=0; i<50; i++) {
myMotor->setSpeed(50);
myMotor2->setSpeed(50);
myMotor3->setSpeed(50);
myMotor4->setSpeed(50);
delay(10);
}
// for (i=50; i!=0; i--) {
// myMotor->setSpeed(50);
// myMotor2->setSpeed(50);
// myMotor3->setSpeed(50);
// myMotor4->setSpeed(50);
// delay(10);
// }
}
/*************************************************
* Public Constants
*************************************************/
#define NOTE_B0 31
#define NOTE_C1 33
#define NOTE_CS1 35
#define NOTE_D1 37
#define NOTE_DS1 39
#define NOTE_E1 41
#define NOTE_F1 44
#define NOTE_FS1 46
#define NOTE_G1 49
#define NOTE_GS1 52
#define NOTE_A1 55
#define NOTE_AS1 58
#define NOTE_B1 62
#define NOTE_C2 65
#define NOTE_CS2 69
#define NOTE_D2 73
#define NOTE_DS2 78
#define NOTE_E2 82
#define NOTE_F2 87
#define NOTE_FS2 93
#define NOTE_G2 98
#define NOTE_GS2 104
#define NOTE_A2 110
#define NOTE_AS2 117
#define NOTE_B2 123
#define NOTE_C3 131
#define NOTE_CS3 139
#define NOTE_D3 147
#define NOTE_DS3 156
#define NOTE_E3 165
#define NOTE_F3 175
#define NOTE_FS3 185
#define NOTE_G3 196
#define NOTE_GS3 208
#define NOTE_A3 220
#define NOTE_AS3 233
#define NOTE_B3 247
#define NOTE_C4 262
#define NOTE_CS4 277
#define NOTE_D4 294
#define NOTE_DS4 311
#define NOTE_E4 330
#define NOTE_F4 349
#define NOTE_FS4 370
#define NOTE_G4 392
#define NOTE_GS4 415
#define NOTE_A4 440
#define NOTE_AS4 466
#define NOTE_B4 494
#define NOTE_C5 523
#define NOTE_CS5 554
#define NOTE_D5 587
#define NOTE_DS5 622
#define NOTE_E5 659
#define NOTE_F5 698
#define NOTE_FS5 740
#define NOTE_G5 784
#define NOTE_GS5 831
#define NOTE_A5 880
#define NOTE_AS5 932
#define NOTE_B5 988
#define NOTE_C6 1047
#define NOTE_CS6 1109
#define NOTE_D6 1175
#define NOTE_DS6 1245
#define NOTE_E6 1319
#define NOTE_F6 1397
#define NOTE_FS6 1480
#define NOTE_G6 1568
#define NOTE_GS6 1661
#define NOTE_A6 1760
#define NOTE_AS6 1865
#define NOTE_B6 1976
#define NOTE_C7 2093
#define NOTE_CS7 2217
#define NOTE_D7 2349
#define NOTE_DS7 2489
#define NOTE_E7 2637
#define NOTE_F7 2794
#define NOTE_FS7 2960
#define NOTE_G7 3136
#define NOTE_GS7 3322
#define NOTE_A7 3520
#define NOTE_AS7 3729
#define NOTE_B7 3951
#define NOTE_C8 4186
#define NOTE_CS8 4435
#define NOTE_D8 4699
#define NOTE_DS8 4978
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$GPGGA,123814.00,4234.6713,N,07148.2575,W,1,09,1.0,170.5,M,,M,,*6B
$GPGGA,123815.00,4234.6711,N,07148.2577,W,1,09,1.0,171.1,M,,M,,*6F
$GPGGA,123816.00,4234.6711,N,07148.2578,W,1,09,1.0,171.1,M,,M,,*63
$GPGGA,123817.00,4234.6711,N,07148.2581,W,1,09,1.0,169.8,M,,M,,*64
$GPGGA,123818.00,4234.6713,N,07148.2583,W,1,09,1.0,166.7,M,,M,,*6B
$GPGGA,123819.00,4234.6713,N,07148.2585,W,1,09,1.0,173.3,M,,M,,*6C
$GPGGA,123820.00,4234.6713,N,07148.2584,W,1,09,1.0,174.9,M,,M,,*6A
$GPGGA,123821.00,4234.6716,N,07148.2584,W,1,09,1.0,175.3,M,,M,,*65
$GPGGA,123822.00,4234.6717,N,07148.2585,W,1,09,1.0,176.8,M,,M,,*6E
$GPGGA,123823.00,4234.6717,N,07148.2585,W,1,09,1.0,177.1,M,,M,,*67
$GPGGA,123824.00,4234.6717,N,07148.2584,W,1,09,1.0,179.8,M,,M,,*66
$GPGGA,123825.00,4234.6721,N,07148.2582,W,1,09,1.0,179.8,M,,M,,*64
$GPGGA,123826.00,4234.6718,N,07148.2578,W,1,09,1.0,178.7,M,,M,,*66
$GPGGA,123827.00,4234.6714,N,07148.2580,W,1,09,1.0,176.4,M,,M,,*61
$GPGGA,123828.00,4234.6709,N,07148.2583,W,1,09,1.0,175.9,M,,M,,*6F
$GPGGA,123829.00,4234.6708,N,07148.2587,W,1,09,1.0,175.9,M,,M,,*6B
$GPGGA,123830.00,4234.6705,N,07148.2589,W,1,09,1.0,176.1,M,,M,,*6B
$GPGGA,123831.00,4234.6700,N,07148.2589,W,1,09,1.0,176.2,M,,M,,*6C
$GPGGA,123832.00,4234.6701,N,07148.2590,W,1,09,1.0,176.2,M,,M,,*66
$GPGGA,123833.00,4234.6709,N,07148.2595,W,1,09,1.0,176.3,M,,M,,*6B
$GPGGA,123834.00,4234.6709,N,07148.2595,W,0,00,1.0,176.3,M,,M,,*64
$GPGGA,123835.00,4234.6709,N,07148.2595,W,0,00,1.0,176.7,M,,M,,*61
$GPGGA,123836.00,4234.6709,N,07148.2595,W,0,00,1.0,176.7,M,,M,,*62
$GPGGA,123837.00,4234.6709,N,07148.2595,W,0,00,1.0,176.7,M,,M,,*63
$GPGGA,123838.00,4234.6748,N,07148.2638,W,1,09,1.0,177.4,M,,M,,*67
$GPGGA,123839.00,4234.6754,N,07148.2647,W,1,07,1.1,177.4,M,,M,,*6C
$GPGGA,123840.00,4234.6756,N,07148.2653,W,1,08,1.0,177.3,M,,M,,*6C
$GPGGA,123841.00,4234.6751,N,07148.2658,W,1,09,1.0,176.8,M,,M,,*6A
$GPGGA,123842.00,4234.6742,N,07148.2660,W,1,09,1.0,176.6,M,,M,,*6E
$GPGGA,123843.00,4234.6728,N,07148.2662,W,1,09,1.0,176.5,M,,M,,*62
$GPGGA,123844.00,4234.6724,N,07148.2673,W,1,09,1.0,176.3,M,,M,,*6F
$GPGGA,123845.00,4234.6721,N,07148.2679,W,1,09,1.0,176.3,M,,M,,*61
$GPGGA,123846.00,4234.6716,N,07148.2686,W,1,09,1.0,176.2,M,,M,,*67
$GPGGA,123847.00,4234.6704,N,07148.2685,W,1,07,1.2,176.2,M,,M,,*6A
$GPGGA,123848.00,4234.6699,N,07148.2687,W,1,07,1.2,176.2,M,,M,,*62
$GPGGA,123849.00,4234.6699,N,07148.2691,W,1,07,1.2,176.1,M,,M,,*67
$GPGGA,123850.00,4234.6706,N,07148.2697,W,1,07,1.2,176.1,M,,M,,*6E
$GPGGA,123851.00,4234.6735,N,07148.2678,W,1,07,1.5,175.9,M,,M,,*62
$GPGGA,123852.00,4234.6707,N,07148.2682,W,1,06,1.5,175.7,M,,M,,*6A
$GPGGA,123853.00,4234.6766,N,07148.2675,W,1,07,1.5,175.7,M,,M,,*65
$GPGGA,123854.00,4234.6801,N,07148.2672,W,1,07,1.5,175.7,M,,M,,*6B
$GPGGA,123855.00,4234.6830,N,07148.2666,W,1,06,1.5,175.7,M,,M,,*6C
$GPGGA,123856.00,4234.6858,N,07148.2659,W,1,07,1.5,175.7,M,,M,,*6C
$GPGGA,123857.00,4234.6874,N,07148.2642,W,1,06,1.5,175.8,M,,M,,*67
$GPGGA,123858.00,4234.6870,N,07148.2627,W,1,07,1.5,175.7,M,,M,,*61
$GPGGA,123859.00,4234.6860,N,07148.2619,W,1,07,1.5,175.1,M,,M,,*6A
$GPGGA,123900.00,4234.6860,N,07148.2619,W,0,00,1.5,175.1,M,,M,,*61
$GPGGA,123901.00,4234.6860,N,07148.2619,W,0,00,1.5,174.9,M,,M,,*69
$GPGGA,123902.00,4234.6860,N,07148.2619,W,0,00,1.5,174.9,M,,M,,*6A
$GPGGA,123903.00,4234.6860,N,07148.2619,W,0,00,1.5,174.9,M,,M,,*6B
$GPGGA,123904.00,4234.6860,N,07148.2619,W,0,00,1.5,175.2,M,,M,,*66
$GPGGA,123905.00,4234.6860,N,07148.2619,W,0,00,1.5,175.2,M,,M,,*67
$GPGGA,123906.00,4234.6860,N,07148.2619,W,0,00,1.5,175.3,M,,M,,*65
$GPGGA,123907.00,4234.6860,N,07148.2619,W,0,00,1.5,175.3,M,,M,,*64
$GPGGA,123908.00,4234.6860,N,07148.2619,W,0,00,1.5,175.4,M,,M,,*6C
$GPGGA,123909.00,4234.6860,N,07148.2619,W,0,00,1.5,175.6,M,,M,,*6F
$GPGGA,123910.00,4234.6860,N,07148.2619,W,0,00,1.5,175.7,M,,M,,*66
$GPGGA,123911.00,4234.6860,N,07148.2619,W,0,00,1.5,175.7,M,,M,,*67
$GPGGA,123912.00,4234.6860,N,07148.2619,W,0,00,1.5,175.7,M,,M,,*64
$GPGGA,123913.00,4234.6860,N,07148.2619,W,0,00,1.5,175.8,M,,M,,*6A
$GPGGA,123914.00,4234.6860,N,07148.2619,W,0,00,1.5,175.8,M,,M,,*6D
$GPGGA,123915.00,4234.6860,N,07148.2619,W,0,00,1.5,175.6,M,,M,,*62
$GPGGA,123916.00,4234.6860,N,07148.2619,W,0,00,1.5,175.4,M,,M,,*63
$GPGGA,123917.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*63
$GPGGA,123918.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6C
$GPGGA,123919.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6D
$GPGGA,123920.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*67
$GPGGA,123921.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*66
$GPGGA,123922.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*65
$GPGGA,123923.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*64
$GPGGA,123924.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*63
$GPGGA,123925.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*62
$GPGGA,123926.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*61
$GPGGA,123927.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*60
$GPGGA,123928.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6F
$GPGGA,123929.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6E
$GPGGA,123930.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*66
$GPGGA,123931.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*67
$GPGGA,123932.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*64
$GPGGA,123933.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*65
$GPGGA,123934.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*62
$GPGGA,123935.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*63
$GPGGA,123936.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*60
$GPGGA,123937.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*61
$GPGGA,123938.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6E
$GPGGA,123939.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6F
$GPGGA,123940.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*61
$GPGGA,123941.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*60
$GPGGA,123942.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*63
$GPGGA,123943.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*62
$GPGGA,123944.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*65
$GPGGA,123945.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*64
$GPGGA,123946.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*67
$GPGGA,123947.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*66
$GPGGA,123948.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*69
$GPGGA,123949.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*68
$GPGGA,123950.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*60
$GPGGA,123951.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*61
$GPGGA,123952.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*62
$GPGGA,123953.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*63
$GPGGA,123954.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*64
$GPGGA,123955.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*65
$GPGGA,123956.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*66
$GPGGA,123957.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*67
$GPGGA,123958.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*68
$GPGGA,123959.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*69
$GPGGA,124000.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6B
$GPGGA,124001.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6A
$GPGGA,124002.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*69
$GPGGA,124003.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*68
$GPGGA,124004.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6F
$GPGGA,124005.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6E
$GPGGA,124006.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6D
$GPGGA,124007.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6C
$GPGGA,124008.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*63
$GPGGA,124009.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*62
$GPGGA,124010.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6A
$GPGGA,124011.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6B
$GPGGA,124012.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*68
$GPGGA,124013.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*69
$GPGGA,124014.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6E
$GPGGA,124015.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6F
$GPGGA,124016.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6C
$GPGGA,124017.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6D
$GPGGA,124018.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*62
$GPGGA,124019.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*63
$GPGGA,124020.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*69
$GPGGA,124021.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*68
$GPGGA,124022.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6B
$GPGGA,124023.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6A
$GPGGA,124024.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6D
$GPGGA,124025.00,4234.6860,N,07148.2619,W,0,00,1.5,175.5,M,,M,,*6C
Please specify the operation mode.
0:Run positioning. Output NMEA text.
set mode : 0
; Satellite system(GPS/GLONASS/SBAS/QZSS_L1CA/QZSS_L1S)
SatelliteSystem=GPS+GLONASS+QZSS_L1CA
; Output NMEA message to UART(TRUE/FALSE)
NmeaOutUart=TRUE
; Output NMEA message to file(TRUE/FALSE)
NmeaOutFile=TRUE
; Output binary data to file(TRUE/FALSE)
BinaryOut=FALSE
; Positioning interval sec(1-300)
IntervalSec=1
; Positioning active sec(60-300)
ActiveSec=60
; Positioning sleep sec(0-240)
SleepSec=240
; Uart debug message(NONE/ERROR/WARNING/INFO)
UartDebugMessage=NONE
; EOF
$GPGGA,000003.00,,,,,0,00,,,,,,,*4B
$GPGGA,000004.00,,,,,0,00,,,,,,,*4C
$GPGGA,000005.00,,,,,0,00,,,,,,,*4D
$GPGGA,000006.00,,,,,0,00,,,,,,,*4E
$GPGGA,000007.00,,,,,0,00,,,,,,,*4F
$GPGGA,000008.00,,,,,0,00,,,,,,,*40
$GPGGA,000009.00,,,,,0,00,,,,,,,*41
$GPGGA,000010.00,,,,,0,00,,,,,,,*49
$GPGGA,000011.00,,,,,0,00,,,,,,,*48
$GPGGA,000012.00,,,,,0,00,,,,,,,*4B
$GPGGA,000013.00,,,,,0,00,,,,,,,*4A
$GPGGA,000014.00,,,,,0,00,,,,,,,*4D
$GPGGA,000015.00,,,,,0,00,,,,,,,*4C
$GPGGA,000016.00,,,,,0,00,,,,,,,*4F
$GPGGA,000017.00,,,,,0,00,,,,,,,*4E
$GPGGA,000018.00,,,,,0,00,,,,,,,*41
$GPGGA,000019.00,,,,,0,00,,,,,,,*40
$GPGGA,000020.00,,,,,0,00,,,,,,,*4A
$GPGGA,000021.00,,,,,0,00,,,,,,,*4B
$GPGGA,000022.00,,,,,0,00,,,,,,,*48
$GPGGA,000023.00,,,,,0,00,,,,,,,*49
$GPGGA,000024.00,,,,,0,00,,,,,,,*4E
$GPGGA,000025.00,,,,,0,00,,,,,,,*4F
$GPGGA,000026.00,,,,,0,00,,,,,,,*4C
$GPGGA,000027.00,,,,,0,00,,,,,,,*4D
$GPGGA,000028.00,,,,,0,00,,,,,,,*42
$GPGGA,000029.00,,,,,0,00,,,,,,,*43
$GPGGA,000030.00,,,,,0,00,,,,,,,*4B
$GPGGA,000031.00,,,,,0,00,,,,,,,*4A
$GPGGA,000032.00,,,,,0,00,,,,,,,*49
$GPGGA,000033.00,,,,,0,00,,,,,,,*48
$GPGGA,000034.00,,,,,0,00,,,,,,,*4F
$GPGGA,000035.00,,,,,0,00,,,,,,,*4E
$GPGGA,000036.00,,,,,0,00,,,,,,,*4D
$GPGGA,000037.00,,,,,0,00,,,,,,,*4C
$GPGGA,000038.00,,,,,0,00,,,,,,,*43
$GPGGA,000039.00,,,,,0,00,,,,,,,*42
$GPGGA,000040.00,,,,,0,00,,,,,,,*4C
$GPGGA,000041.00,,,,,0,00,,,,,,,*4D
$GPGGA,000042.00,,,,,0,00,,,,,,,*4E
$GPGGA,000043.00,,,,,0,00,,,,,,,*4F
$GPGGA,000044.00,,,,,0,00,,,,,,,*48
$GPGGA,000045.00,,,,,0,00,,,,,,,*49
$GPGGA,000046.00,,,,,0,00,,,,,,,*4A
$GPGGA,000047.00,,,,,0,00,,,,,,,*4B
$GPGGA,000048.00,,,,,0,00,,,,,,,*44
$GPGGA,000049.00,,,,,0,00,,,,,,,*45
$GPGGA,000050.00,,,,,0,00,,,,,,,*4D
$GPGGA,000051.00,,,,,0,00,,,,,,,*4C
$GPGGA,000052.00,,,,,0,00,,,,,,,*4F
$GPGGA,000053.00,,,,,0,00,,,,,,,*4E
$GPGGA,000054.00,,,,,0,00,,,,,,,*49
$GPGGA,000055.00,,,,,0,00,,,,,,,*48
$GPGGA,000056.00,,,,,0,00,,,,,,,*4B
$GPGGA,000057.00,,,,,0,00,,,,,,,*4A
$GPGGA,000058.00,,,,,0,00,,,,,,,*45
$GPGGA,000059.00,,,,,0,00,,,,,,,*44
$GPGGA,000100.00,,,,,0,00,,,,,,,*49
$GPGGA,000101.00,,,,,0,00,,,,,,,*48
$GPGGA,000102.00,,,,,0,00,,,,,,,*4B
$GPGGA,000103.00,,,,,0,00,,,,,,,*4A
$GPGGA,000104.00,,,,,0,00,,,,,,,*4D
$GPGGA,000105.00,,,,,0,00,,,,,,,*4C
$GPGGA,000106.00,,,,,0,00,,,,,,,*4F
$GPGGA,000107.00,,,,,0,00,,,,,,,*4E
$GPGGA,000108.00,,,,,0,00,,,,,,,*41
$GPGGA,000109.00,,,,,0,00,,,,,,,*40
$GPGGA,000110.00,,,,,0,00,,,,,,,*48
$GPGGA,000111.00,,,,,0,00,,,,,,,*49
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$GPGGA,191435.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5E
$GPGGA,191436.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5D
$GPGGA,191437.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5C
$GPGGA,191438.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*53
$GPGGA,191439.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*52
$GPGGA,191440.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5C
$GPGGA,191441.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5D
$GPGGA,191442.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5E
$GPGGA,191443.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5F
$GPGGA,191444.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*58
$GPGGA,191445.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*59
$GPGGA,191446.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5A
$GPGGA,191447.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5B
$GPGGA,191448.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*54
$GPGGA,191449.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*55
$GPGGA,191450.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5D
$GPGGA,191451.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5C
$GPGGA,191452.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5F
$GPGGA,191453.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5E
$GPGGA,191454.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*59
$GPGGA,191455.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*58
$GPGGA,191456.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5B
$GPGGA,191457.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5A
$GPGGA,191458.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*55
$GPGGA,191459.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*54
$GPGGA,191500.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*59
$GPGGA,191501.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*58
$GPGGA,191502.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5B
$GPGGA,191503.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5A
$GPGGA,191504.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5D
$GPGGA,191505.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5C
$GPGGA,191506.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5F
$GPGGA,191507.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5E
$GPGGA,191508.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*51
$GPGGA,191509.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*50
$GPGGA,191510.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*58
$GPGGA,191511.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*59
$GPGGA,191512.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5A
$GPGGA,191513.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5B
$GPGGA,191514.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5C
$GPGGA,191515.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5D
$GPGGA,191516.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5E
$GPGGA,191517.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5F
$GPGGA,191518.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*50
$GPGGA,191519.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*51
$GPGGA,191520.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5B
$GPGGA,191521.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5A
$GPGGA,191522.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*59
$GPGGA,191523.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*58
$GPGGA,191524.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5F
$GPGGA,191525.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5E
$GPGGA,191526.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5D
$GPGGA,191527.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5C
$GPGGA,191528.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*53
$GPGGA,191529.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*52
$GPGGA,191530.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5A
$GPGGA,191531.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5B
$GPGGA,191532.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*58
$GPGGA,191533.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*59
$GPGGA,191534.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5E
$GPGGA,191535.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5F
$GPGGA,191536.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5C
$GPGGA,191537.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5D
$GPGGA,191538.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*52
$GPGGA,191539.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*53
$GPGGA,191540.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5D
$GPGGA,191541.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5C
$GPGGA,191542.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5F
$GPGGA,191543.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5E
$GPGGA,191544.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*59
$GPGGA,191545.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*58
$GPGGA,191546.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5B
$GPGGA,191547.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5A
$GPGGA,191548.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*55
$GPGGA,191549.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*54
$GPGGA,191550.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5C
$GPGGA,191551.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5D
$GPGGA,191552.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5E
$GPGGA,191553.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5F
$GPGGA,191554.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*58
$GPGGA,191555.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*59
$GPGGA,191556.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5A
$GPGGA,191557.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5B
$GPGGA,191558.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*54
$GPGGA,191559.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*55
$GPGGA,191600.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5A
$GPGGA,191601.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5B
$GPGGA,191602.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*58
$GPGGA,191603.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*59
$GPGGA,191604.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5E
$GPGGA,191605.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5F
$GPGGA,191606.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5C
$GPGGA,191607.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5D
$GPGGA,191608.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*52
$GPGGA,191609.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*53
$GPGGA,191610.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5B
$GPGGA,191611.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5A
$GPGGA,191612.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*59
$GPGGA,191613.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*58
$GPGGA,191614.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5F
$GPGGA,191615.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5E
$GPGGA,191616.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5D
$GPGGA,191617.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5C
$GPGGA,191618.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*53
$GPGGA,191619.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*52
$GPGGA,191620.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*58
$GPGGA,191621.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*59
$GPGGA,191622.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5A
$GPGGA,191623.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5B
$GPGGA,191624.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5C
$GPGGA,191625.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5D
$GPGGA,191626.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5E
$GPGGA,191627.00,4234.6120,N,07148.3381,W,0,00,8.4,39.5,M,,M,,*5F
Sleep in.
/*
This is a test sketch for the Adafruit assembled Motor Shield for Arduino v2
It won't work with v1.x motor shields! Only for the v2's with built in PWM
control
For use with the Adafruit Motor Shield v2
----> http://www.adafruit.com/products/1438
*/
/*
modified 8 Nov 2013
by Scott Fitzgerald
http://www.arduino.cc/en/Tutorial/Sweep
*/
#include <Servo.h>
#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include "utility/Adafruit_MS_PWMServoDriver.h"
// Create the motor shield object with the default I2C address
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
// Or, create it with a different I2C address (say for stacking)
// Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61);
// Select which 'port' M1, M2, M3 or M4. In this case, M1
Adafruit_DCMotor *myMotor = AFMS.getMotor(1);
// You can also make another motor on port M2
Adafruit_DCMotor *myMotor2 = AFMS.getMotor(2);
Adafruit_DCMotor *myMotor3 = AFMS.getMotor(3);
Adafruit_DCMotor *myMotor4 = AFMS.getMotor(4);
Servo myservo; // create servo object to control a servo
Servo myservo2; // create servo object to control a servo
// twelve servo objects can be created on most boards
int pos = 0; // variable to store the servo position
int pos2 = 0; // variable to store the servo position
void setup() {
Serial.begin(9600); // set up Serial library at 9600 bps
Serial.println("Adafruit Motorshield v2 - DC Motor test!");
myservo.attach(9); // attaches the servo on pin 9 to the servo object
myservo2.attach(10); // attaches the servo on pin 9 to the servo object
AFMS.begin(); // create with the default frequency 1.6KHz
//AFMS.begin(1000); // OR with a different frequency, say 1KHz
// Set the speed to start, from 0 (off) to 255 (max speed)
myMotor->setSpeed(25);
myMotor2->setSpeed(25);
myMotor3->setSpeed(25);
myMotor4->setSpeed(25);
myMotor->run(FORWARD);
myMotor2->run(FORWARD);
myMotor3->run(FORWARD);
myMotor4->run(FORWARD);
// turn on motor
myMotor->run(RELEASE);
myMotor2->run(RELEASE);
myMotor3->run(RELEASE);
myMotor4->run(RELEASE);
}
void loop() {
for (pos = 100; pos <= 150; pos += 1) { // goes from 0 degrees to 180 degrees
// in steps of 1 degree
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
for (pos = 150; pos >= 100; pos -= 1) { // goes from 180 degrees to 0 degrees
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
for (pos2 = 100; pos2 <= 150; pos2 += 1) { // goes from 0 degrees to 180 degrees
// in steps of 1 degree
myservo2.write(pos2); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
for (pos2 = 150; pos2 >= 100; pos2 -= 1) { // goes from 180 degrees to 0 degrees
myservo2.write(pos2); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
uint8_t i;
Serial.print("forward");
myMotor->run(FORWARD);
myMotor2->run(FORWARD);
myMotor3->run(FORWARD);
myMotor4->run(FORWARD);
for (i=0; i<50; i++) {
myMotor->setSpeed(50);
myMotor2->setSpeed(50);
myMotor3->setSpeed(50);
myMotor4->setSpeed(50);
delay(10);
}
// for (i=50; i!=0; i--) {
// myMotor->setSpeed(50);
// myMotor2->setSpeed(50);
// myMotor3->setSpeed(50);
// myMotor4->setSpeed(50);
// delay(10);
// }
Serial.print("turnrightforward");
myMotor->run(FORWARD);
myMotor2->run(FORWARD);
myMotor3->run(RELEASE);
myMotor4->run(RELEASE);
for (i=0; i<50; i++) {
myMotor->setSpeed(50);
myMotor2->setSpeed(50);
myMotor3->setSpeed(50);
myMotor4->setSpeed(50);
delay(10);
}
// for (i=50; i!=0; i--) {
// myMotor->setSpeed(50);
// myMotor2->setSpeed(50);
// myMotor3->setSpeed(50);
// myMotor4->setSpeed(50);
// delay(10);
// }
Serial.print("turnleftforward");
myMotor->run(RELEASE);
myMotor2->run(RELEASE);
myMotor3->run(FORWARD);
myMotor4->run(FORWARD);
for (i=0; i<50; i++) {
myMotor->setSpeed(50);
myMotor2->setSpeed(50);
myMotor3->setSpeed(50);
myMotor4->setSpeed(50);
delay(10);
}
// for (i=50; i!=0; i--) {
// myMotor->setSpeed(50);
// myMotor2->setSpeed(50);
// myMotor3->setSpeed(50);
// myMotor4->setSpeed(50);
// delay(10);
// }
Serial.print("backward");
myMotor->run(BACKWARD);
myMotor2->run(BACKWARD);
myMotor3->run(BACKWARD);
myMotor4->run(BACKWARD);
for (i=0; i<50; i++) {
myMotor->setSpeed(50);
myMotor2->setSpeed(50);
myMotor3->setSpeed(50);
myMotor4->setSpeed(50);
delay(10);
}
// for (i=50; i!=0; i--) {
// myMotor->setSpeed(50);
// myMotor2->setSpeed(50);
// myMotor3->setSpeed(50);
// myMotor4->setSpeed(50);
// delay(10);
// }
Serial.print("stop");
myMotor->run(RELEASE);
myMotor2->run(RELEASE);
myMotor3->run(RELEASE);
myMotor4->run(RELEASE);
delay(10);
Serial.print("pivotleft");
myMotor->run(BACKWARD);
myMotor2->run(BACKWARD);
myMotor3->run(FORWARD);
myMotor4->run(FORWARD);
for (i=0; i<50; i++) {
myMotor->setSpeed(50);
myMotor2->setSpeed(50);
myMotor3->setSpeed(50);
myMotor4->setSpeed(50);
delay(10);
}
// for (i=50; i!=0; i--) {
// myMotor->setSpeed(50);
// myMotor2->setSpeed(50);
// myMotor3->setSpeed(50);
// myMotor4->setSpeed(50);
// delay(10);
// }
Serial.print("turnleftbackward");
myMotor->run(BACKWARD);
myMotor2->run(BACKWARD);
myMotor3->run(RELEASE);
myMotor4->run(RELEASE);
for (i=0; i<50; i++) {
myMotor->setSpeed(50);
myMotor2->setSpeed(50);
myMotor3->setSpeed(50);
myMotor4->setSpeed(50);
delay(10);
}
// for (i=50; i!=0; i--) {
// myMotor->setSpeed(50);
// myMotor2->setSpeed(50);
// myMotor3->setSpeed(50);
// myMotor4->setSpeed(50);
// delay(10);
// }
Serial.print("turnrightbackward");
myMotor->run(RELEASE);
myMotor2->run(RELEASE);
myMotor3->run(BACKWARD);
myMotor4->run(BACKWARD);
for (i=0; i<50; i++) {
myMotor->setSpeed(50);
myMotor2->setSpeed(50);
myMotor3->setSpeed(50);
myMotor4->setSpeed(50);
delay(10);
}
// for (i=50; i!=0; i--) {
// myMotor->setSpeed(50);
// myMotor2->setSpeed(50);
// myMotor3->setSpeed(50);
// myMotor4->setSpeed(50);
// delay(10);
// }
Serial.print("pivotright");
myMotor->run(FORWARD);
myMotor2->run(FORWARD);
myMotor3->run(BACKWARD);
myMotor4->run(BACKWARD);
for (i=0; i<50; i++) {
myMotor->setSpeed(50);
myMotor2->setSpeed(50);
myMotor3->setSpeed(50);
myMotor4->setSpeed(50);
delay(10);
}
// for (i=50; i!=0; i--) {
// myMotor->setSpeed(50);
// myMotor2->setSpeed(50);
// myMotor3->setSpeed(50);
// myMotor4->setSpeed(50);
// delay(10);
// }
}
Base UNO, Adafruit motor shield, pan-n-tilt, controlled by 1Sheeld
ArduinoThis is base code for controlling DEMO hardware before Spresense arrives-does not have Ultrasonic sensor portion
/*Gamepad Shield Example
This example shows an application on 1Sheeld's gamepad shield.Listing from https://www.hackster.io/13766/super-easy-to-build-1sheeld-2-wheel-drive-robot-cb9b66
******* This is modified to use the adafruit motorshield V2.3 Created by Garry Grewer, *********
/*
Pan-Tilt Controlled by Cell Phone
by LAGSILVA - 14.Feb.2016
(Application supported by 1SHEELD-Android for Arduino UNO)
PS: X-axis ranges from 0 to 360 degrees, Y-axis ranges from -180 to 180 degrees
and Z-axis ranges from -90 to 90 degrees.
*/
/*
Pan-Tilt Controlled by Cell Phone
by LAGSILVA - 14.Feb.2016
(Application supported by 1SHEELD-Android for Arduino UNO)
PS: X-axis ranges from 0 to 360 degrees, Y-axis ranges from -180 to 180 degrees
and Z-axis ranges from -90 to 90 degrees.
*/
int ledPin = 13;
#define CUSTOM_SETTINGS
#define INCLUDE_ORIENTATION_SENSOR_SHIELD
#define INCLUDE_GAMEPAD_SHIELD
#include <OneSheeld.h> // Include 1Sheeld Library
#include <Servo.h> // Include Servo Library
#include <Adafruit_MotorShield.h> //for v2.3 motorshield
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
// Motor objects, motor number on the motor shield board
Adafruit_DCMotor *myMotor = AFMS.getMotor(1);
Adafruit_DCMotor *myOtherMotor = AFMS.getMotor(2);
Adafruit_DCMotor *myMotor3 = AFMS.getMotor(3);
Adafruit_DCMotor *myOtherMotor4 = AFMS.getMotor(4);
Servo myservoX; // Create servo object to control Orientation X
Servo myservoY; // Create servo object to control Orientation Y
float angleX, angleXi, angleY;
float angleYi = -35; // This value must be set with a trial to align the "zero" angle of your Tilt. In my case I used -35 for compensation.
boolean k = true;
void setup()
{
OneSheeld.begin();
AFMS.begin();
// The LED just works as an indicator that the 1Sheeld is working fine
pinMode(ledPin, OUTPUT);
myMotor->setSpeed(150);
myOtherMotor->setSpeed(150);
myMotor3->setSpeed(150);
myOtherMotor4->setSpeed(150);
OrientationSensor.setOnValueChange(readAngleXi);
myservoX.attach(9); // Servo2 (in the Motor Shield) of Axix X (PAN) - connected to Analogic Pin 09 of Arduino
myservoY.attach(10); // Servo1 (in the Motor Shield) of Axix Y (TILT) - connected to Analogic Pin 10 of Arduino
}
void loop()
{
angleX = -OrientationSensor.getX();
angleX = angleX - angleXi + 90;
if (angleX < 0) {
angleX = angleX + 360;
}
if (angleX > 360) {
angleX = angleX - 360;
}
angleX = constrain(angleX, 0, 180);
myservoX.write(angleX);
delay(15);
angleY = -OrientationSensor.getY();
angleY = 180 - (angleY - angleYi);
angleY = constrain(angleY, -30, 150);
myservoY.write(angleY);
delay(15);
/* Always check the status of gamepad buttons. */
if (GamePad.isDownPressed())
{
myMotor->run(BACKWARD);
myOtherMotor->run(BACKWARD);
myMotor3->run(BACKWARD);
myOtherMotor4->run(BACKWARD);
digitalWrite(ledPin, HIGH);
}
else if (GamePad.isUpPressed())
{
myMotor->run(FORWARD);
myOtherMotor->run(FORWARD);
myMotor3->run(FORWARD);
myOtherMotor4->run(FORWARD);
digitalWrite(ledPin, HIGH);
}
else if (GamePad.isLeftPressed())
{
myMotor->run(BACKWARD);
myOtherMotor->run(BACKWARD);
myMotor3->run(FORWARD);
myOtherMotor4->run(FORWARD);
digitalWrite(ledPin, HIGH);
}
else if (GamePad.isRightPressed())
{
myMotor->run(FORWARD);
myOtherMotor->run(FORWARD);
myMotor3->run(BACKWARD);
myOtherMotor4->run(BACKWARD);
digitalWrite(ledPin, HIGH);
}
else
{
myMotor->run(RELEASE);
myOtherMotor->run(RELEASE);
myMotor3->run(RELEASE);
myOtherMotor4->run(RELEASE);
digitalWrite(ledPin, LOW);
}
}
void readAngleXi(float xAxis, float yAxis, float zAxis)
{
if (k) {
angleXi = -xAxis;
k = false;
}
}
void loop2()
{
}
James Martel
48 projects • 62 followers
Self taught Robotics platform developer with electronics background
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