Autonomous redboard rover

Projects Programming
1

I am trying to construct an autonomous rover using the Arduino red board and the ardumoto shield along with an Adafruit GPS. It is a two wheeled rover with two separate motors. As far as the construction is concerned I have finished, however, the programming of this rover is giving me a lot of trouble. I feel like I am missing integral parts of the code, but I am still learning how to write and think in terms of programming. I did use other codes I have found on the internet to try and build something. The general idea I am looking for is to initially input the destination coordinates, then for the GPS to receive the current coordinates, the rover to create a waypoint, and subsequently drive to it. I tried to figure out some conditional statements to input, but I'm getting to a point where the more I try, the farther away I am getting.

Any help would be greatly appreciated.

#include "nmea.h"
#include "motors.h"
#include "math.h"
int wpt = 0; //indicates initial zero value for waypoints
float lat;//this is the latitude coordinate from the adafruit
float lon;//this is the longitude coordinate from the adafruit
float dest_latitude; //variable to be input at competition
float dest_longitude;//variable to be input at competition
NMEA gps(GPRMC); //standard for initializing GPS library

#define WPT_IN_RANGE //defines range of waypoints for GPS
#define MOTOR_A 0 //definitions for both motors
#define MOTOR_B 1

const byte PWMA = 3; //Pin assignments assigned based on schematic of Arudomoto
const byte PWMB = 11;
const byte DIRA = 12;
const byte DIRB = 13;

void setupArdumoto()//Initializes all of the pins on the Ardumoto and sets them as outputs.
{
Serial.begin(9600);
Serial.println("Starting Program")
Serial2.begin(9600);
pinMode(PWMA,OUTPUT);
pinMode(PWMB,OUTPUT);
pinMode(DIRA,OUTPUT);
pinMode(DIRB,OUTPUT);

digitalWrite(PWMA,HIGH);
digitalWrite(PWMB,HIGH);
digitalWrite(DIRA,HIGH);
digitalWrite(DIRB,HIGH);
}

void loop()//This loop gathers the coordinates from the GPS and relays them to processing
{
drive();
delay();
if (Serial2.available() > 0)
{
char c = Serial2.read();

if (gps.decode(c))
{ Serial.println("Latitude:");
float lat = gps.gprmc_latitude()
Serial.println(lat,3);
Serial.println("Longitude : ");
float lon =gps.gprmc_longitude();
Serial.println(lon,3);{

trackWpts();
trackGPS();{
void (trackWpts){
switch(wpt){
case 0:
dest_latitude=
dest_longitude=
break;
case 1:
dest_latitude=
dest_longitude=
break;
default:
dest_latitude = 0;
dest_longitude = 0;{
if (gps.gprmc_distance_to(dest_latitude,dest_longitude)<WPT_IN_RANGE),wpt++;
driveArdumoto(MOTOR_A,CCW,255);
delay();
driveArdumoto(MOTOR_B,CCW,255);
delay()
else(
stopArdumoto(MOTOR_1);
stopArdumoto(MOTOR_2);
Serial.println("Destination Arrived...")}}}}}}
else (
serial.println("Loop cannot iniate")
}

2

There are lot of confusion

just keep it simple. Always look your interface device working fine or not.

1)Paste your basic block diagram of the interface with Arduino red board.
2) Check basic interface device working or not
3) try to share datasheet of interface device being used

Simple code to test your GPS device working fine or not. share serial monitor window
rxgps- pin 8
txgps-pin9

#include <SoftwareSerial.h>

#include <TinyGPS.h>

/* This sample code demonstrates the normal use of a TinyGPS object.
   It requires the use of SoftwareSerial, and assumes that you have a
   4800-baud serial GPS device hooked up on pins 4(rx) and 3(tx).
*/

TinyGPS gps;
SoftwareSerial ss(8, 9);

void setup()
{
  Serial.begin(9600);
  ss.begin(4800);
  
  Serial.print("Simple TinyGPS library v. "); Serial.println(TinyGPS::library_version());
  Serial.println("by Mikal Hart");
  Serial.println();
}

void loop()
{
  bool newData = false;
  unsigned long chars;
  unsigned short sentences, failed;

  // For one second we parse GPS data and report some key values
  for (unsigned long start = millis(); millis() - start < 1000;)
  {
    while (ss.available())
    {
      char c = ss.read();
      // Serial.write(c); // uncomment this line if you want to see the GPS data flowing
      if (gps.encode(c)) // Did a new valid sentence come in?
        newData = true;
    }
  }

  if (newData)
  {
    float flat, flon;
    unsigned long age;
    gps.f_get_position(&flat, &flon, &age);
    Serial.print("LAT=");
    Serial.print(flat == TinyGPS::GPS_INVALID_F_ANGLE ? 0.0 : flat, 6);
    Serial.print(" LON=");
    Serial.print(flon == TinyGPS::GPS_INVALID_F_ANGLE ? 0.0 : flon, 6);
    Serial.print(" SAT=");
    Serial.print(gps.satellites() == TinyGPS::GPS_INVALID_SATELLITES ? 0 : gps.satellites());
    Serial.print(" PREC=");
    Serial.print(gps.hdop() == TinyGPS::GPS_INVALID_HDOP ? 0 : gps.hdop());
  }
  
  gps.stats(&chars, &sentences, &failed);
  Serial.print(" CHARS=");
  Serial.print(chars);
  Serial.print(" SENTENCES=");
  Serial.print(sentences);
  Serial.print(" CSUM ERR=");
  Serial.println(failed);
  if (chars == 0)
    Serial.println("** No characters received from GPS: check wiring **");
}

mistake in your code

setup() missing
function call() deination missing
delay() program not used properly
elaborate what you are trying to do