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Wunderbot - GPS Subsystem Tutorial
If there are any questions about this tutorial feel free to email me at patrickm@etown.edu and I will try to answer them.

There are two VIs within the actual GPS processing subsystem.  In addition to the processing VIs there are Path Planning algorithms implemented in other software that are run before execution; these algorithms are not included as part of this tutorial.  

DDMM to Decimal Conversion


This VI takes the lattue and longetude format given at competition and converts it to the decimal format used on the robot.



This is the code for the DDMM2Decimal vi.  It uses multiple formula bloack to carry out the necessary mathematics to convert the coordinates.


GPS Calculation



This it the front panel for the GPS calculation vi.  This determines heading to and distance from the desired target point as well as the velocity being traveled.



This is the initialization of the VI setting the program coanstants as well as the data variables for the longetude and latitude points.  Note: some of these variables are fed into the VI from the main VI using it.



This section uses the constants and input lat and long data t calculate the dustance between the points and the velocity in mph.


The following four images show cases where the latitude and longitudes of the two points difere from each other.  In each of the case the desired heading is calculated based on the difference between the current and desired point.