Interacting with GPS output coordinates

Projects Discussion and Showcase Robotics
1

I am Getting output coordinates well and they appear on the Serial Monitor from the code bellow but now i need it to run through a list of coordinate Positions for it to reach that i can manually enter into the cycle array at the top. my current issue is that i am unable to figure out how to use the gps.location.lat() values in If functions and later in a formula to give the relative angle from forward face to goal position. in summary i need to be able to use a long set of decimals in math's and an if statement against an array.

//Compass
#include <Wire.h>
#include <QMC5883LCompass.h>
QMC5883LCompass compass;

//Gps
#include <TinyGPS++.h>
#include <SoftwareSerial.h>
int RXPin = 2;
int TXPin = 3;
int GPSBaud = 9600;
TinyGPSPlus gps;
SoftwareSerial gpsSerial(RXPin, TXPin);

//Cycle Array
int LatValue[] = { 179.572947 }; //Last Value Must be 0.00...etc.
int LngValue[] = { 126.588290 }; //Last Value Must be 0.00...etc.

void setup()
{
  //Compass
  Serial.begin(9600);
  Wire.begin();
  compass.init();

  //GPS
  gpsSerial.begin(GPSBaud);
}

void loop()
{
  //Compass
   int x, y, z;
  compass.read();
  x = compass.getX();
  y = compass.getY();
  z = compass.getZ();
  float heading = atan2(y, x);
  if(heading < 0) heading += 2*PI;
  float headingDegrees = heading * 180/M_PI;
  //GPS
while (gpsSerial.available() > 0)
if (gps.encode(gpsSerial.read()))
  if (millis() > 5000 && gps.charsProcessed() < 10)
  {
  Serial.print(" No GPS detected");
  while(true);
  }
  if (gps.location.isValid())
  {
  Serial.print("  Lat: ");
  Serial.print(gps.location.lat(), 6);
  Serial.print("  Long: ");
  Serial.print(gps.location.lng(), 6);
  }
  else
  {
    Serial.print("  Location: Not Available");
  }

  //Compass
  Serial.print("  Hed: ");
  Serial.print(headingDegrees);
  Serial.print(" deg");
  Serial.println();

  //Cycle Array
  if(LatValue = gps.location.lat() && LngValue = gps.location.lng())
  {
  //add 1 to Lat and Long value
  }
  if(LatValue = 0 && LngValue = 0)
  {
  //Stop Program
  }
  else
  {
  //move towards Lat and Long value
  }
}
2

Use the courseTo function in TinyGPS++ to determine the desired course heading. The distanceBetween function is also pretty handy, for example to determine if you have reached the goal.

3

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