Loosing GPS.fix with LCD.print

Projects Programming
6

You could send the location once every 2 seconds when you update the LCD. Or update the LCD in even seconds and send a location in odd seconds (alternating).

Maybe the rover would only send the location when requested (master-slave approach). That would let the base station monopolize the Xbee for good servo control, until it's ready to receive a location from the rover.

You could send one command that has everything: servo values and a flag that means "reply with location".

On the rover you could do something like this:

void loop()
{
  if (GPS.available( GPSserial )) {
    fix = GPS.read(); // save for later
    fixCount++;

    if (fixCount >= 2) {
      fixCount = 0; // reset
      updateLCD();
    }
  }

  // Check for Xbee commands?
  if (lineReady()) {
    Serial.print( F("Command = '") );
    Serial.print( receivedChars );
    Serial.println( '\'' );
    
    // Interpret the command
    if (servo command)
      update servo

    if (location query)
      send fix location
  }

} // loop

Lot's of ways...