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dGPS with RobotC: Problem with Navigation Functionality 
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Joined: Fri Dec 12, 2014 9:54 am
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Post dGPS with RobotC: Problem with Navigation Functionality
I have a recently-purchased Dexter dGPS running on an NXT brick with RobotC v3.62. I'm trying to use the navigation functionality of the dGPS by sending it a destination lat/lon. Unfortunately, no matter what I send via the DGPSsetDestination command, I still get bogus distance and angle to destination values. The lat/lons are correct, but it doesn't appear to be receiving the destination info. Same dGPS works fine in NXT-G with the same destination lat/lon. Using the latest include file: dexterind-gps.h 133 2013-03-10

Update 17 Dec 14: I also tried RobotC v4.27 and got the same result. Reported distance/angle to destination are consistent with a (0,0) destination no matter what I send via the DGPSsetDestination command. No obvious coding error, so hopefully someone can reproduce and solve this issue.


#pragma config(Sensor, S2, DGPS, sensorI2CCustom)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//

/*
* $Id: dexterind-gps-test1.c 133 2013-03-10 15:15:38Z xander $
*/

/**
* dexterind-gps.h provides an API for the Dexter Industries GPS Sensor. This program
* demonstrates how to use that API.
*
* Changelog:
* - 0.1: Initial release
* - 0.2: Removed common.h from includes
*
* Credits:
* - Big thanks to Dexter Industries for providing me with the hardware necessary to write and test this.
*
* License: You may use this code as you wish, provided you give credit where it's due.
*
* THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 3.59 AND HIGHER.

* Xander Soldaat (xander_at_botbench.com)
* 20 February 2011
* version 0.2
*/

#include "drivers/dexterind-gps.h"

task main () {

long longitude = 0;
long latitude = 0;
long utc = 0;
bool linkstatus = false;
bool destination = false;
int dest_heading = 0;
int dest_distance = 0;
long lat_destination = 26203967;
long lon_destination = 50613246;
//long lat_destination = 0;
//long lon_destination = 0;


nxtDisplayCenteredTextLine(0, "Dexter Ind.");
nxtDisplayCenteredBigTextLine(1, "GPS");
nxtDisplayCenteredTextLine(3, "Test 1");
nxtDisplayCenteredTextLine(5, "Connect sensor");
nxtDisplayCenteredTextLine(6, "to S1");
wait1Msec(2000);
eraseDisplay();

while (true) {

// Read the sensor's data

DGPSsetDestination(DGPS, lat_destination, lon_destination);

utc = DGPSreadUTC(DGPS);
longitude = DGPSreadLongitude(DGPS);
latitude = DGPSreadLatitude(DGPS);
linkstatus = DGPSreadStatus(DGPS);
dest_heading = DGPSreadRelHeading(DGPS);
//dest_heading = DGPSreadVelocity(DGPS);
dest_distance = DGPSreadDistToDestination(DGPS);

nxtDisplayTextLine(2, "UTC: %d", utc);
nxtDisplayTextLine(3, "Lon: %d", longitude);
nxtDisplayTextLine(4, "Lat: %d", latitude);

nxtDisplayTextLine(5, "Head: %d", dest_heading);
nxtDisplayTextLine(6, "Dist: %d", dest_distance);
nxtDisplayTextLine(7, "Bool: %d", destination);

wait1Msec(500);
}
}

/*
* $Id: dexterind-gps-test1.c 133 2013-03-10 15:15:38Z xander $
*/


Fri Dec 12, 2014 9:59 am
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