├── Python ├── requirements.txt ├── 2021-06-10.png ├── readme.md └── GPS_MissionPlanner.py ├── cockpit ├── logs │ ├── jhsdlhsad.txt │ ├── jkfkhffjfjhfhgfhkf.txt │ ├── lkhdsvkldsfjkljef.txt │ ├── realTestkjfhjhf.txt │ ├── test3.txt │ ├── dskjhfds.txt │ ├── sfjhkjfh.txt │ ├── realtest6-15.txt │ ├── ljvdshdsvkldsf.txt │ ├── sasadkljhdaslkjas.txt │ ├── habdidb.txt │ └── lkjkljskldjasda.txt ├── voice.mp3 ├── resources │ ├── ledgend.png │ ├── ledgend.xcf │ ├── battery2.png │ ├── HeadingWeel.png │ ├── background.jpg │ ├── AirSpeedNeedle.png │ ├── Maquette_Avion.png │ ├── Horizon_GroundSky.png │ ├── Horizon_Background.png │ ├── Horizon_Background2.png │ ├── Horizon_GroundSky2.png │ ├── LongNeedleAltimeter.png │ ├── RF_Dial_Background.png │ ├── TurnCoordinatorBall.png │ ├── VerticalSpeedNeedle.png │ ├── Altimeter_Background.png │ ├── Indicator_Background.png │ ├── SmallNeedleAltimeter.png │ ├── TurnCoordinatorMarks.png │ ├── TurnCoordinatorAircraft.png │ ├── HeadingIndicator_Aircraft.png │ ├── HeadingIndicator_Background.png │ ├── TurnCoordinator_Background.png │ ├── AirSpeedIndicator_Background.png │ ├── VerticalSpeedIndicator_Background.png │ ├── .fr-BdEoIK │ │ └── AvionicsInstrumentControlDemo │ │ │ └── Resources │ │ │ ├── HeadingWeel.bmp │ │ │ ├── Horizon_Background.bmp │ │ │ ├── Horizon_GroundSky.bmp │ │ │ ├── Indicator_Background.bmp │ │ │ ├── LongNeedleAltimeter.bmp │ │ │ ├── HeadingIndicator_Aircraft.bmp │ │ │ └── HeadingIndicator_Background.bmp │ ├── .fr-p5LfPg │ │ └── AvionicsInstrumentControlDemo │ │ │ └── Resources │ │ │ ├── HeadingWeel.bmp │ │ │ ├── AirSpeedNeedle.bmp │ │ │ ├── Maquette_Avion.bmp │ │ │ ├── Horizon_Background.bmp │ │ │ ├── Horizon_GroundSky.bmp │ │ │ ├── Altimeter_Background.bmp │ │ │ ├── Indicator_Background.bmp │ │ │ ├── LongNeedleAltimeter.bmp │ │ │ ├── SmallNeedleAltimeter.bmp │ │ │ ├── TurnCoordinatorBall.bmp │ │ │ ├── TurnCoordinatorMarks.bmp │ │ │ ├── VerticalSpeedNeedle.bmp │ │ │ ├── TurnCoordinatorAircraft.bmp │ │ │ ├── HeadingIndicator_Aircraft.bmp │ │ │ ├── TurnCoordinator_Background.bmp │ │ │ ├── AirSpeedIndicator_Background.bmp │ │ │ ├── HeadingIndicator_Background.bmp │ │ │ └── VerticalSpeedIndicator_Background.bmp │ └── .fr-tlmicE │ │ └── AvionicsInstrumentControlDemo │ │ └── Resources │ │ ├── HeadingWeel.bmp │ │ ├── AirSpeedNeedle.bmp │ │ ├── Maquette_Avion.bmp │ │ ├── Horizon_Background.bmp │ │ ├── Horizon_GroundSky.bmp │ │ ├── Altimeter_Background.bmp │ │ ├── Indicator_Background.bmp │ │ ├── LongNeedleAltimeter.bmp │ │ ├── SmallNeedleAltimeter.bmp │ │ ├── TurnCoordinatorBall.bmp │ │ ├── TurnCoordinatorMarks.bmp │ │ ├── VerticalSpeedNeedle.bmp │ │ ├── TurnCoordinatorAircraft.bmp │ │ ├── HeadingIndicator_Aircraft.bmp │ │ ├── TurnCoordinator_Background.bmp │ │ ├── AirSpeedIndicator_Background.bmp │ │ ├── HeadingIndicator_Background.bmp │ │ └── VerticalSpeedIndicator_Background.bmp ├── __pycache__ │ └── textToSpeech.cpython-37.pyc ├── README.txt ├── liveposition.kml ├── textToSpeech.py ├── positions.kml ├── Liecence.txt └── dial.py ├── Images ├── IMG_3642.jpg ├── 2021-06-06.png ├── UGV Block Diagram v2 (2).png └── Screenshot 2021-05-14 115919.jpg ├── GPS_i2c_Slave ├── .gitignore ├── .vscode │ └── extensions.json ├── test │ └── README ├── platformio.ini ├── lib │ └── README ├── include │ └── README └── src │ ├── main.cpp │ └── backup.txt ├── Navigation_Controller ├── .gitignore ├── .vscode │ └── extensions.json ├── test │ └── README ├── platformio.ini ├── lib │ └── README └── include │ └── README └── README.md /Python/requirements.txt: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /cockpit/logs/jhsdlhsad.txt: -------------------------------------------------------------------------------- 1 | Theta Angle Distance Heading Roll Pitch Voltage 2 | -------------------------------------------------------------------------------- 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mode. (The artificial horizon should follow the mouse.) 8 | -------------------------------------------------------------------------------- /cockpit/resources/.fr-p5LfPg/AvionicsInstrumentControlDemo/Resources/VerticalSpeedIndicator_Background.bmp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nchennoju/Arduino-GPS-Waypoint-UGV/HEAD/cockpit/resources/.fr-p5LfPg/AvionicsInstrumentControlDemo/Resources/VerticalSpeedIndicator_Background.bmp -------------------------------------------------------------------------------- /cockpit/resources/.fr-tlmicE/AvionicsInstrumentControlDemo/Resources/VerticalSpeedIndicator_Background.bmp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nchennoju/Arduino-GPS-Waypoint-UGV/HEAD/cockpit/resources/.fr-tlmicE/AvionicsInstrumentControlDemo/Resources/VerticalSpeedIndicator_Background.bmp -------------------------------------------------------------------------------- /GPS_i2c_Slave/.vscode/extensions.json: -------------------------------------------------------------------------------- 1 | { 2 | // See http://go.microsoft.com/fwlink/?LinkId=827846 3 | // for the documentation about the extensions.json format 4 | "recommendations": [ 5 | "platformio.platformio-ide" 6 | ], 7 | "unwantedRecommendations": [ 8 | "ms-vscode.cpptools-extension-pack" 9 | ] 10 | } 11 | -------------------------------------------------------------------------------- /Navigation_Controller/.vscode/extensions.json: -------------------------------------------------------------------------------- 1 | { 2 | // See http://go.microsoft.com/fwlink/?LinkId=827846 3 | // for the documentation about the extensions.json format 4 | "recommendations": [ 5 | "platformio.platformio-ide" 6 | ], 7 | "unwantedRecommendations": [ 8 | "ms-vscode.cpptools-extension-pack" 9 | ] 10 | } 11 | -------------------------------------------------------------------------------- /cockpit/liveposition.kml: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | 6 | C:\Users\nchen\Documents\Python\cockpit\positions.kml 7 | onInterval 8 | 1 9 | 10 | 1 11 | 12 | -------------------------------------------------------------------------------- /GPS_i2c_Slave/test/README: -------------------------------------------------------------------------------- 1 | 2 | This directory is intended for PlatformIO Unit Testing and project tests. 3 | 4 | Unit Testing is a software testing method by which individual units of 5 | source code, sets of one or more MCU program modules together with associated 6 | control data, usage procedures, and operating procedures, are tested to 7 | determine whether they are fit for use. Unit testing finds problems early 8 | in the development cycle. 9 | 10 | More information about PlatformIO Unit Testing: 11 | - https://docs.platformio.org/page/plus/unit-testing.html 12 | -------------------------------------------------------------------------------- /GPS_i2c_Slave/platformio.ini: -------------------------------------------------------------------------------- 1 | ; PlatformIO Project Configuration File 2 | ; 3 | ; Build options: build flags, source filter 4 | ; Upload options: custom upload port, speed and extra flags 5 | ; Library options: dependencies, extra library storages 6 | ; Advanced options: extra scripting 7 | ; 8 | ; Please visit documentation for the other options and examples 9 | ; https://docs.platformio.org/page/projectconf.html 10 | 11 | [env:nanoatmega328] 12 | platform = atmelavr 13 | board = nanoatmega328 14 | framework = arduino 15 | lib_deps = mikalhart/TinyGPSPlus@^1.0.2 16 | -------------------------------------------------------------------------------- /Navigation_Controller/test/README: -------------------------------------------------------------------------------- 1 | 2 | This directory is intended for PlatformIO Unit Testing and project tests. 3 | 4 | Unit Testing is a software testing method by which individual units of 5 | source code, sets of one or more MCU program modules together with associated 6 | control data, usage procedures, and operating procedures, are tested to 7 | determine whether they are fit for use. Unit testing finds problems early 8 | in the development cycle. 9 | 10 | More information about PlatformIO Unit Testing: 11 | - https://docs.platformio.org/page/plus/unit-testing.html 12 | -------------------------------------------------------------------------------- /Navigation_Controller/platformio.ini: -------------------------------------------------------------------------------- 1 | ; PlatformIO Project Configuration File 2 | ; 3 | ; Build options: build flags, source filter 4 | ; Upload options: custom upload port, speed and extra flags 5 | ; Library options: dependencies, extra library storages 6 | ; Advanced options: extra scripting 7 | ; 8 | ; Please visit documentation for the other options and examples 9 | ; https://docs.platformio.org/page/projectconf.html 10 | 11 | [env:nanoatmega328new] 12 | platform = atmelavr 13 | board = nanoatmega328new 14 | framework = arduino 15 | lib_deps = 16 | arduino-libraries/Servo@^1.1.7 17 | br3ttb/PID@^1.2.1 18 | -------------------------------------------------------------------------------- /cockpit/logs/test3.txt: -------------------------------------------------------------------------------- 1 | Theta Angle Distance Heading Roll Pitch Voltage 2 | -47 0 0 85 -1 6 -0.05 3 | -47 0 0 85 -1 6 -0.06 4 | -47 0 0 85 -1 7 -0.07 5 | -47 0 0 85 -1 7 -0.08 6 | -46 0 0 84 -1 7 -0.08 7 | -46 0 0 84 -1 7 -0.08 8 | -46 0 0 84 -1 7 -0.13 9 | -46 0 0 84 -1 7 -0.13 10 | -46 0 0 84 -1 7 -0.14 11 | -46 0 0 84 -1 7 -0.14 12 | -46 0 0 83 -1 7 -0.14 13 | -46 0 0 83 -1 7 -0.13 14 | -46 0 0 83 -1 7 -0.14 15 | -46 0 0 83 -1 7 -0.13 16 | -46 0 0 83 -1 7 -0.13 17 | Theta Angle Distance Heading Roll Pitch Voltage 18 | -45 0 0 82 -1 8 -0.14 19 | -45 0 0 82 -1 8 -0.14 20 | -45 0 0 82 -1 8 -0.13 21 | -45 0 0 82 -1 8 -0.13 22 | -45 0 0 82 -1 8 -0.14 23 | -------------------------------------------------------------------------------- /Python/readme.md: -------------------------------------------------------------------------------- 1 | # Python Files: programming GPS waypoints + telemetry GUI 2 | 3 | The following steps should be followed is you would like to automate the process of enterring coordinates into the program. 4 | 5 | - Step 1) Download iNav: there should be many tutorial online to do this 6 | - Step 2) Open iNav, Navigate to Mission Control, Draw your Mission, and Save file 7 | ![Sample Mission](https://github.com/nchennoju/Arduino-GPS-Waypoint-UGV/blob/master/Python/2021-06-10.png) 8 | - Step 3) Open GPS_MissionPlanner.py and edit the line starting with "GPS_PROGRAM_PATH = ...". Enter the file location of the GPS_i2c_Slave cpp file. 9 | - Step 4) Run the python script, select the .mission file previously saved, and the GPS_i2c_Slave main.cpp file shoud be populated with the coordinates 10 | - Step 5) Upload program onto GPS Arduino 11 | -------------------------------------------------------------------------------- /cockpit/textToSpeech.py: -------------------------------------------------------------------------------- 1 | from gtts import gTTS 2 | import os 3 | import playsound 4 | import pyttsx3 5 | 6 | 7 | class TextToSpeech: 8 | def __init__(self): 9 | self.engine = pyttsx3.init() 10 | self.voices = self.engine.getProperty('voices') 11 | 12 | def setMF(self, gender): 13 | self.engine.setProperty('voice', self.voices[int(gender.lower() == "female")].id) 14 | 15 | def setRate(self, rate): 16 | self.engine.setProperty("rate", rate) 17 | 18 | def speak(self, text): 19 | filename = 'voice.mp3' 20 | try: 21 | tts = gTTS(text=text, lang='en') 22 | tts.save(filename) 23 | playsound.playsound(filename) 24 | os.remove(filename) 25 | except: 26 | print("Error: No Network Connection") 27 | if(len(self.voices) > 1): 28 | self.engine.say(text) 29 | self.engine.runAndWait() 30 | self.engine.save_to_file(text, filename) 31 | 32 | 33 | 34 | 35 | #tts = TextToSpeech() 36 | #tts.setRate(210) 37 | #tts.setMF("female") 38 | 39 | #while True: 40 | # inp = input() 41 | # tts.speak(inp) -------------------------------------------------------------------------------- /GPS_i2c_Slave/lib/README: -------------------------------------------------------------------------------- 1 | 2 | This directory is intended for project specific (private) libraries. 3 | PlatformIO will compile them to static libraries and link into executable file. 4 | 5 | The source code of each library should be placed in a an own separate directory 6 | ("lib/your_library_name/[here are source files]"). 7 | 8 | For example, see a structure of the following two libraries `Foo` and `Bar`: 9 | 10 | |--lib 11 | | | 12 | | |--Bar 13 | | | |--docs 14 | | | |--examples 15 | | | |--src 16 | | | |- Bar.c 17 | | | |- Bar.h 18 | | | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html 19 | | | 20 | | |--Foo 21 | | | |- Foo.c 22 | | | |- Foo.h 23 | | | 24 | | |- README --> THIS FILE 25 | | 26 | |- platformio.ini 27 | |--src 28 | |- main.c 29 | 30 | and a contents of `src/main.c`: 31 | ``` 32 | #include 33 | #include 34 | 35 | int main (void) 36 | { 37 | ... 38 | } 39 | 40 | ``` 41 | 42 | PlatformIO Library Dependency Finder will find automatically dependent 43 | libraries scanning project source files. 44 | 45 | More information about PlatformIO Library Dependency Finder 46 | - https://docs.platformio.org/page/librarymanager/ldf.html 47 | -------------------------------------------------------------------------------- /Navigation_Controller/lib/README: -------------------------------------------------------------------------------- 1 | 2 | This directory is intended for project specific (private) libraries. 3 | PlatformIO will compile them to static libraries and link into executable file. 4 | 5 | The source code of each library should be placed in a an own separate directory 6 | ("lib/your_library_name/[here are source files]"). 7 | 8 | For example, see a structure of the following two libraries `Foo` and `Bar`: 9 | 10 | |--lib 11 | | | 12 | | |--Bar 13 | | | |--docs 14 | | | |--examples 15 | | | |--src 16 | | | |- Bar.c 17 | | | |- Bar.h 18 | | | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html 19 | | | 20 | | |--Foo 21 | | | |- Foo.c 22 | | | |- Foo.h 23 | | | 24 | | |- README --> THIS FILE 25 | | 26 | |- platformio.ini 27 | |--src 28 | |- main.c 29 | 30 | and a contents of `src/main.c`: 31 | ``` 32 | #include 33 | #include 34 | 35 | int main (void) 36 | { 37 | ... 38 | } 39 | 40 | ``` 41 | 42 | PlatformIO Library Dependency Finder will find automatically dependent 43 | libraries scanning project source files. 44 | 45 | More information about PlatformIO Library Dependency Finder 46 | - https://docs.platformio.org/page/librarymanager/ldf.html 47 | -------------------------------------------------------------------------------- /GPS_i2c_Slave/include/README: -------------------------------------------------------------------------------- 1 | 2 | This directory is intended for project header files. 3 | 4 | A header file is a file containing C declarations and macro definitions 5 | to be shared between several project source files. You request the use of a 6 | header file in your project source file (C, C++, etc) located in `src` folder 7 | by including it, with the C preprocessing directive `#include'. 8 | 9 | ```src/main.c 10 | 11 | #include "header.h" 12 | 13 | int main (void) 14 | { 15 | ... 16 | } 17 | ``` 18 | 19 | Including a header file produces the same results as copying the header file 20 | into each source file that needs it. Such copying would be time-consuming 21 | and error-prone. With a header file, the related declarations appear 22 | in only one place. If they need to be changed, they can be changed in one 23 | place, and programs that include the header file will automatically use the 24 | new version when next recompiled. The header file eliminates the labor of 25 | finding and changing all the copies as well as the risk that a failure to 26 | find one copy will result in inconsistencies within a program. 27 | 28 | In C, the usual convention is to give header files names that end with `.h'. 29 | It is most portable to use only letters, digits, dashes, and underscores in 30 | header file names, and at most one dot. 31 | 32 | Read more about using header files in official GCC documentation: 33 | 34 | * Include Syntax 35 | * Include Operation 36 | * Once-Only Headers 37 | * Computed Includes 38 | 39 | https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html 40 | -------------------------------------------------------------------------------- /Navigation_Controller/include/README: -------------------------------------------------------------------------------- 1 | 2 | This directory is intended for project header files. 3 | 4 | A header file is a file containing C declarations and macro definitions 5 | to be shared between several project source files. You request the use of a 6 | header file in your project source file (C, C++, etc) located in `src` folder 7 | by including it, with the C preprocessing directive `#include'. 8 | 9 | ```src/main.c 10 | 11 | #include "header.h" 12 | 13 | int main (void) 14 | { 15 | ... 16 | } 17 | ``` 18 | 19 | Including a header file produces the same results as copying the header file 20 | into each source file that needs it. Such copying would be time-consuming 21 | and error-prone. With a header file, the related declarations appear 22 | in only one place. If they need to be changed, they can be changed in one 23 | place, and programs that include the header file will automatically use the 24 | new version when next recompiled. The header file eliminates the labor of 25 | finding and changing all the copies as well as the risk that a failure to 26 | find one copy will result in inconsistencies within a program. 27 | 28 | In C, the usual convention is to give header files names that end with `.h'. 29 | It is most portable to use only letters, digits, dashes, and underscores in 30 | header file names, and at most one dot. 31 | 32 | Read more about using header files in official GCC documentation: 33 | 34 | * Include Syntax 35 | * Include Operation 36 | * Once-Only Headers 37 | * Computed Includes 38 | 39 | https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html 40 | -------------------------------------------------------------------------------- /cockpit/positions.kml: -------------------------------------------------------------------------------- 1 | 3 | UGV 4 | GPS Data from UGV 5 | 6 | -121.9797300,37.3285790,0 7 | 8 | 16 | 17 | -121.9797300 18 | 37.3285790 19 | 2000 20 | clampToGround 21 | 45 22 | 15 23 | 167 24 | 25 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Arduino-GPS-Waypoint-UGV 2 | 3 | The following project is a completely custom Arduino based project designed to be the first step in designing a Flight Controller with GPS capabilities. The following flight controller uses two Arduinos, 1 BN880 GPS module, 1 MPU9250 9 axis IMU, 1 NRF24 radio module, and a analog voltage sensor. More sensors will be interfaced as the flight controller approaches flight readiness, but until then, this UGV platform is more than plenty to test flight controller features. At the moment, the UGV is capable of running GPS waypoint missions with a 1M accuracy while being able to navigate at a top speed of 10mph (a fast jog). Below is an image of the UGV... 4 | 5 | ![UGV](https://github.com/nchennoju/Arduino-GPS-Waypoint-UGV/blob/master/Images/IMG_3642.jpg) 6 | 7 | 8 | To simplify wiring, a custom PCB was designed. The PCB has been oversized at the moment as fligth controller mass and size are nearly as important when equipped on a ground vehicle. For now, V1 of the flight controller PCB offers more than enough space and flexibility, but will eventually be redesigned. 9 | 10 | 11 | ![PCB](https://github.com/nchennoju/Arduino-GPS-Waypoint-UGV/blob/master/Images/Screenshot%202021-05-14%20115919.jpg) 12 | 13 | 14 | Additionally, telemetry capabilities were added to the rover for better ease in debugging while also offering users a user friendly interface to monitor the status of the UGV. The GUI dashboard was designed in python keeping in mind that the following hardware will eventually be equipped on an Aerial device. Using a recieving NRF24 radio module connected to an arduino to serialize inputs, the python GUI uses the pyserial library to extract UGV data and graphically represents it. Currently, attitude, GPS position, voltage, heading data, and PID inputs are shown. 15 | 16 | 17 | ![GUI](https://github.com/nchennoju/Arduino-GPS-Waypoint-UGV/blob/master/Images/2021-06-06.png) 18 | 19 | 20 | To make this entire flight controller hardware easy to understand, I have a basic system diagram explaining everything... 21 | 22 | 23 | ![Sys Diagram](https://github.com/nchennoju/Arduino-GPS-Waypoint-UGV/blob/master/Images/UGV%20Block%20Diagram%20v2%20(2).png) 24 | 25 | 26 | If you have any questions or are interested in this project, you can connect with me on linkedin: https://www.linkedin.com/in/nitish-chennoju/ 27 | or you can view my website: http://nchennoju.github.io/ 28 | -------------------------------------------------------------------------------- /Python/GPS_MissionPlanner.py: -------------------------------------------------------------------------------- 1 | from tkinter import filedialog 2 | from tkinter import * 3 | 4 | GPS_PROGRAM_PATH = 'C:\\Users\\nchen\\Documents\\PlatformIO\\Projects\\GPS_i2c_Slave\\src\\main.cpp' #'C:\\Users\\nchen\\Documents\\PlatformIO\\Projects\\GPS_Waypoint\\src\\main.cpp' 5 | 6 | class FileParse: 7 | 8 | root = Tk() 9 | 10 | def __init__(self): 11 | self.root.filename = filedialog.askopenfilename(initialdir="C:\\Users\\nchen\\Desktop", 12 | title="Select data file") 13 | #print("FILE Location: " + self.root.filename) 14 | self.fN = self.root.filename 15 | self.file = open(self.fN) 16 | 17 | raw = self.file.read() 18 | arrTmp = raw.split('\n') 19 | arr = [] 20 | self.coordinates = [] 21 | for line in arrTmp: 22 | if(" 2 | #include 3 | #include 4 | #include "C:\Users\nchen\Documents\PlatformIO\Projects\GPS_i2c_Slave\.pio\libdeps\nanoatmega328\TinyGPSPlus\src\TinyGPS++.h" 5 | 6 | int heading(double lat1, double lon1, double lat2, double lon2); 7 | int distance(double lat1, double lon1, double lat2, double lon2); 8 | 9 | #define TX_PIN 2 10 | #define RX_PIN 3 11 | #define R 5 12 | #define G 8 13 | #define B 7 14 | #define WAYPOINT_THRESHOLD 2 15 | #define GPSBAUD 9600 16 | #define DEV_NUM 7 17 | 18 | struct Data { 19 | double heading; 20 | double distance; 21 | }; 22 | 23 | // ----- GPS 24 | const double coordinates[][2] = {{37.3250377, -121.9821168}, {37.325046, -121.981990}, {37.3250377, -121.9821168}}; 25 | int target = 0; 26 | 27 | 28 | TinyGPSPlus gps; 29 | SoftwareSerial gpsSerial(TX_PIN, RX_PIN); 30 | SoftwareSerial comSerial(10, 9); 31 | 32 | int dist, h = 0; 33 | int thetaScaled; 34 | 35 | 36 | 37 | void setup() { 38 | pinMode(R, OUTPUT); 39 | pinMode(G, OUTPUT); 40 | pinMode(B, OUTPUT); 41 | 42 | Serial.begin(9600); 43 | gpsSerial.begin(GPSBAUD); 44 | 45 | // CHECK NUM SATELLITES 46 | while(gps.satellites.value() < 5) { 47 | while(gpsSerial.available() > 0){ 48 | gps.encode(gpsSerial.read()); 49 | } 50 | Serial.println(gps.satellites.value()); 51 | digitalWrite(R, HIGH); 52 | delay(100); 53 | digitalWrite(R, LOW); 54 | while(gpsSerial.available() > 0){ 55 | gps.encode(gpsSerial.read()); 56 | } 57 | Serial.println(gps.satellites.value()); 58 | digitalWrite(G, HIGH); 59 | delay(100); 60 | digitalWrite(G, LOW); 61 | while(gpsSerial.available() > 0){ 62 | gps.encode(gpsSerial.read()); 63 | } 64 | Serial.println(gps.satellites.value()); 65 | digitalWrite(B, HIGH); 66 | delay(100); 67 | digitalWrite(B, LOW); 68 | } 69 | 70 | comSerial.begin(9600); 71 | 72 | } 73 | 74 | boolean gpsFlag = false; 75 | 76 | void loop() { 77 | gpsSerial.listen(); 78 | 79 | //MAIN PROGRAM HERE 80 | while(gpsSerial.available() > 0){ 81 | gps.encode(gpsSerial.read()); 82 | gpsFlag = true; 83 | } 84 | 85 | if(gpsFlag /*&& gps.location.isValid()*/ && target != sizeof(coordinates)){ 86 | dist = distance(coordinates[target][0], coordinates[target][1], gps.location.lat(), gps.location.lng()); 87 | h = heading(coordinates[target][0], coordinates[target][1], gps.location.lat(), gps.location.lng()); 88 | 89 | Serial.print("Distance to Target: " + String(dist) + "\tDesired Heading: " + String(h) + "\tupdated"); 90 | 91 | 92 | if(dist < WAYPOINT_THRESHOLD && dist >= 0){ 93 | digitalWrite(B, LOW); 94 | digitalWrite(G, LOW); 95 | digitalWrite(R, LOW); 96 | 97 | Serial.println("\n\n"); 98 | Serial.println("\tWAYPOINT " + String(target) + " LOCATED..."); 99 | Serial.println("-------------------------------\n\n"); 100 | 101 | //WAYPOINT LOCATED 102 | target+=1; //increment to next waypoint 103 | 104 | if(target == sizeof(coordinates)/8){ 105 | // if Last location, infinite green LED blink 106 | digitalWrite(B, LOW); 107 | digitalWrite(G, LOW); 108 | digitalWrite(R, LOW); 109 | while(true) { 110 | digitalWrite(G, HIGH); 111 | delay(50); 112 | digitalWrite(G, LOW); 113 | delay(50); 114 | } 115 | } 116 | 117 | for(int i = 0; i < 20; i++){ 118 | digitalWrite(G, HIGH); 119 | delay(100); 120 | digitalWrite(G, LOW); 121 | delay(100); 122 | } 123 | } 124 | }else{ 125 | Serial.print("Distance to Target: " + String(dist) + "\tDesired Heading: " + String(h)); 126 | } 127 | 128 | comSerial.print(String(h) + '\t' + String(dist) + '\n'); // send GPS computation to navigation unit 129 | //delay(20); 130 | 131 | Serial.println(); 132 | gpsFlag = false; 133 | 134 | } 135 | 136 | int distance(double lat1, double lon1, double lat2, double lon2) 137 | { 138 | // Conversion factor from degrees to radians (pi/180) 139 | const double toRadian = 0.01745329251; 140 | 141 | // First coordinate (Radians) 142 | double lat1_r = lat1 * toRadian; 143 | //double lon1_r = lon1 * toRadian; 144 | 145 | // Second coordinate (Radians) 146 | double lat2_r = lat2 * toRadian; 147 | //double lon2_r = lon2 * toRadian; 148 | 149 | // Delta coordinates 150 | double deltaLat_r = (lat2 - lat1) * toRadian; 151 | double deltaLon_r = (lon2 - lon1) * toRadian; 152 | 153 | // Distance 154 | double a = sin(deltaLat_r/2)*sin(deltaLat_r/2) + cos(lat1_r) * cos(lat2_r) * sin(deltaLon_r/2) * sin(deltaLon_r/2); 155 | double c = 2 * atan2(sqrt(a), sqrt(1-a)); 156 | double distance = 6371 * c * 1000; 157 | 158 | return int(distance); 159 | } 160 | 161 | int heading(double lat1, double lon1, double lat2, double lon2) 162 | { 163 | // Conversion factor from degrees to radians (pi/180) 164 | const double toRadian = 0.01745329251; 165 | // Conversion factor from degrees to radians (180/pi) 166 | const double toDegrees = 57.2957795131; 167 | 168 | double x, y; 169 | double latCurrent = lat1 * toRadian; 170 | double lonCurrent = lon1 * toRadian; 171 | double latDest = lat2 * toRadian; 172 | double lonDest = lon2 * toRadian; 173 | 174 | x = cos(latDest) * sin(lonDest - lonCurrent); 175 | y = cos(latCurrent) * sin(latDest) - sin(latCurrent) * cos(latDest) * cos(lonDest - lonCurrent); 176 | 177 | double val = 180 + (atan2(x, y)*toDegrees); 178 | if(val > 359){ 179 | return 360 - val; 180 | } 181 | return int(val); 182 | } -------------------------------------------------------------------------------- /GPS_i2c_Slave/src/backup.txt: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include "C:\Users\nchen\Documents\PlatformIO\Projects\GPS_i2c_Slave\.pio\libdeps\nanoatmega328\TinyGPSPlus\src\TinyGPS++.h" 5 | 6 | double heading(double lat1, double lon1, double lat2, double lon2); 7 | double distance(double lat1, double lon1, double lat2, double lon2); 8 | 9 | #define TX_PIN 2 10 | #define RX_PIN 3 11 | #define R 5 12 | #define G 8 13 | #define B 7 14 | #define WAYPOINT_THRESHOLD 2 15 | #define GPSBAUD 9600 16 | #define DEV_NUM 7 17 | 18 | struct Data { 19 | double heading; 20 | double distance; 21 | }; 22 | 23 | // ----- GPS 24 | //{{37.325742, -121.982143}}; 25 | const double coordinates[][2] = {{37.3250377, -121.9821168}, {37.325046, -121.981990}, {37.3250377, -121.9821168}}; 26 | int target = 0; 27 | 28 | 29 | TinyGPSPlus gps; 30 | SoftwareSerial gpsSerial(TX_PIN, RX_PIN); 31 | SoftwareSerial comSerial(10, 9); 32 | 33 | double dist, h = 0; 34 | int thetaScaled; 35 | 36 | 37 | 38 | void setup() { 39 | pinMode(R, OUTPUT); 40 | pinMode(G, OUTPUT); 41 | pinMode(B, OUTPUT); 42 | 43 | Serial.begin(9600); 44 | gpsSerial.begin(GPSBAUD); 45 | 46 | // CHECK NUM SATELLITES 47 | while(gps.satellites.value() < 5) { 48 | while(gpsSerial.available() > 0){ 49 | gps.encode(gpsSerial.read()); 50 | } 51 | Serial.println(gps.satellites.value()); 52 | digitalWrite(R, HIGH); 53 | delay(100); 54 | digitalWrite(R, LOW); 55 | while(gpsSerial.available() > 0){ 56 | gps.encode(gpsSerial.read()); 57 | } 58 | Serial.println(gps.satellites.value()); 59 | digitalWrite(G, HIGH); 60 | delay(100); 61 | digitalWrite(G, LOW); 62 | while(gpsSerial.available() > 0){ 63 | gps.encode(gpsSerial.read()); 64 | } 65 | Serial.println(gps.satellites.value()); 66 | digitalWrite(B, HIGH); 67 | delay(100); 68 | digitalWrite(B, LOW); 69 | } 70 | 71 | comSerial.begin(9600); 72 | 73 | } 74 | 75 | boolean gpsFlag = false; 76 | 77 | void loop() { 78 | gpsSerial.listen(); 79 | 80 | //MAIN PROGRAM HERE 81 | if(gpsSerial.overflow()) { 82 | Serial.println("Overflow"); 83 | gpsSerial.clearWriteError(); 84 | } 85 | 86 | while(gpsSerial.available() > 0){ 87 | gps.encode(gpsSerial.read()); 88 | gpsFlag = true; 89 | } 90 | 91 | if(gpsFlag && gps.location.isValid() && target != sizeof(coordinates)){ 92 | dist = distance(coordinates[target][0], coordinates[target][1], gps.location.lat(), gps.location.lng()); 93 | h = heading(coordinates[target][0], coordinates[target][1], gps.location.lat(), gps.location.lng()); 94 | 95 | Serial.println("Distance to Target: " + String(dist) + "\tDesired Heading: " + String(h) + "\tupdated"); 96 | comSerial.print(String(int(h)) + '\t' + String(int(dist)) + '\n'); // send GPS computation to navigation unit 97 | 98 | digitalWrite(R, HIGH); 99 | digitalWrite(G, LOW); 100 | digitalWrite(B, LOW); 101 | 102 | if(dist < WAYPOINT_THRESHOLD && dist >= 0){ 103 | digitalWrite(B, LOW); 104 | digitalWrite(G, LOW); 105 | digitalWrite(R, LOW); 106 | 107 | Serial.println("\n\n"); 108 | Serial.println("\tWAYPOINT " + String(target) + " LOCATED..."); 109 | Serial.println("-------------------------------\n\n"); 110 | 111 | //WAYPOINT LOCATED 112 | target+=1; //increment to next waypoint 113 | 114 | if(target == sizeof(coordinates)/8){ 115 | // if Last location, infinite green LED blink 116 | digitalWrite(B, LOW); 117 | digitalWrite(G, LOW); 118 | digitalWrite(R, LOW); 119 | while(true) { 120 | digitalWrite(G, HIGH); 121 | delay(50); 122 | digitalWrite(G, LOW); 123 | delay(50); 124 | } 125 | } 126 | 127 | for(int i = 0; i < 20; i++){ 128 | digitalWrite(G, HIGH); 129 | delay(100); 130 | digitalWrite(G, LOW); 131 | delay(100); 132 | } 133 | } 134 | }else{ 135 | digitalWrite(R, LOW); 136 | digitalWrite(G, LOW); 137 | digitalWrite(B, LOW); 138 | //Serial.print("Distance to Target: " + String(dist) + "\tDesired Heading: " + String(h)); 139 | } 140 | 141 | delay(50); 142 | 143 | //Serial.println(); 144 | gpsFlag = false; 145 | 146 | } 147 | 148 | double distance(double lat1, double lon1, double lat2, double lon2) 149 | { 150 | // Conversion factor from degrees to radians (pi/180) 151 | const double toRadian = 0.01745329251; 152 | 153 | // First coordinate (Radians) 154 | double lat1_r = lat1 * toRadian; 155 | //double lon1_r = lon1 * toRadian; 156 | 157 | // Second coordinate (Radians) 158 | double lat2_r = lat2 * toRadian; 159 | //double lon2_r = lon2 * toRadian; 160 | 161 | // Delta coordinates 162 | double deltaLat_r = (lat2 - lat1) * toRadian; 163 | double deltaLon_r = (lon2 - lon1) * toRadian; 164 | 165 | // Distance 166 | double a = sin(deltaLat_r/2)*sin(deltaLat_r/2) + cos(lat1_r) * cos(lat2_r) * sin(deltaLon_r/2) * sin(deltaLon_r/2); 167 | double c = 2 * atan2(sqrt(a), sqrt(1-a)); 168 | double distance = 6371 * c * 1000; 169 | 170 | return distance; 171 | } 172 | 173 | double heading(double lat1, double lon1, double lat2, double lon2) 174 | { 175 | // Conversion factor from degrees to radians (pi/180) 176 | const double toRadian = 0.01745329251; 177 | // Conversion factor from degrees to radians (180/pi) 178 | const double toDegrees = 57.2957795131; 179 | 180 | double x, y; 181 | double latCurrent = lat1 * toRadian; 182 | double lonCurrent = lon1 * toRadian; 183 | double latDest = lat2 * toRadian; 184 | double lonDest = lon2 * toRadian; 185 | 186 | x = cos(latDest) * sin(lonDest - lonCurrent); 187 | y = cos(latCurrent) * sin(latDest) - sin(latCurrent) * cos(latDest) * cos(lonDest - lonCurrent); 188 | 189 | double val = 180 + (atan2(x, y)*toDegrees); 190 | if(val > 359){ 191 | return 360 - val; 192 | } 193 | return val; 194 | } -------------------------------------------------------------------------------- /cockpit/logs/sfjhkjfh.txt: -------------------------------------------------------------------------------- 1 | Theta Angle Distance Heading Roll Pitch Voltage 2 | 0 0 0.00 0 0 0 0.00 3 | 0 0 0.00 0 0 0 0.00 4 | 0 0 0.00 0 0 0 0.00 5 | 0 0 0.00 0 0 0 0.00 6 | 0 0 0.00 0 0 0 0.00 7 | 0 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-------------------------------------------------------------------------------- /cockpit/logs/realtest6-15.txt: -------------------------------------------------------------------------------- 1 | Theta Angle Distance Heading Roll Pitch Voltage 2 | 0 0 0.00 0 0 0 0.00 3 | 0 0 0.00 0 0 0 0.00 4 | 0 0 0.00 0 0 0 0.00 5 | 0 0 0.00 0 0 0 0.00 6 | 0 0 0.00 0 0 0 0.00 7 | 0 0 0.00 0 0 0 0.00 8 | 0 0 0.00 0 0 0 0.00 9 | 0 0 0.00 0 0 0 0.00 10 | 0 0 0.00 0 0 0 0.00 11 | 0 0 0.00 0 0 0 0.00 12 | 0 0 0.00 0 0 0 0.00 13 | 0 0 0.00 0 0 0 0.00 14 | 0 0 0.00 0 0 0 0.00 15 | 0 0 0.00 0 0 0 0.00 16 | 0 0 0.00 0 0 0 0.00 17 | 0 0 0.00 0 0 0 0.00 18 | 0 0 0.00 0 0 0 0.00 19 | 0 0 0.00 0 0 0 0.00 20 | 0 0 0.00 0 0 0 0.00 21 | 0 0 0.00 0 0 0 0.00 22 | 0 0 0.00 0 0 0 0.00 23 | 0 0 0.00 0 0 0 0.00 24 | 0 0 0.00 0 0 0 0.00 25 | 0 0 0.00 0 0 0 0.00 26 | 0 0 0.00 0 0 0 0.00 27 | 0 0 0.00 0 0 0 0.00 28 | 0 0 0.00 0 0 0 0.00 29 | 0 0 0.00 0 0 0 0.00 30 | 0 0 0.00 0 0 0 0.00 31 | 0 0 0.00 0 0 0 0.00 32 | 0 0 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0 0.00 0 0 0 0.00 382 | 0 0 0.00 0 0 0 0.00 383 | 0 0 0.00 0 0 0 0.00 384 | 0 0 0.00 0 0 0 0.00 385 | 0 0 0.00 0 0 0 0.00 386 | 0 0 0.00 0 0 0 0.00 387 | 0 0 0.00 0 0 0 0.00 388 | 0 0 0.00 0 0 0 0.00 389 | 0 0 0.00 0 0 0 0.00 390 | 0 0 0.00 0 0 0 0.00 391 | 0 0 0.00 0 0 0 0.00 392 | 0 0 0.00 0 0 0 0.00 393 | 0 0 0.00 0 0 0 0.00 394 | 0 0 0.00 0 0 0 0.00 395 | 0 0 0.00 0 0 0 0.00 396 | 0 0 0.00 0 0 0 0.00 397 | 0 0 0.00 0 0 0 0.00 398 | 0 0 0.00 0 0 0 0.00 399 | 0 0 0.00 0 0 0 0.00 400 | 0 0 0.00 0 0 0 0.00 401 | 0 0 0.00 0 0 0 0.00 402 | 0 0 0.00 0 0 0 0.00 403 | 0 0 0.00 0 0 0 0.00 404 | 0 0 0.00 0 0 0 0.00 405 | 0 0 0.00 -129 0 0 0.00 406 | 3120 4096 NAN 4126 2048 16384 0.00 407 | 3120 4096 NAN 4126 2048 16384 0.00 408 | 3120 4096 NAN 4126 2048 16384 0.00 409 | 3120 4096 NAN 4126 2048 16384 0.00 410 | 3120 4096 NAN 4126 2048 16384 0.00 411 | 3120 4096 NAN 4126 2048 16384 0.00 412 | 3120 4096 NAN 4126 2048 16384 0.00 413 | 3120 4096 NAN 4126 2048 16384 0.00 414 | 3120 4096 NAN 4126 2048 16384 0.00 415 | 3120 4096 NAN 4126 2048 16384 0.00 416 | 3120 4096 NAN 4126 2048 16384 0.00 417 | 3120 4096 NAN 4126 2048 16384 0.00 418 | 3120 4096 NAN 4126 2048 16384 0.00 419 | 3120 4096 NAN 4126 2048 16384 0.00 420 | 3120 4096 NAN 4126 2048 16384 0.00 421 | 3120 4096 NAN 4126 2048 16384 0.00 422 | 3120 4096 NAN 4126 2048 16384 0.00 423 | 3120 4096 NAN 4126 2048 16384 0.00 424 | 3120 4096 NAN 4126 2048 16384 0.00 425 | 3120 4096 NAN 4126 2048 16384 0.00 426 | 3120 4096 NAN 4126 2048 16384 0.00 427 | 3120 4096 NAN 4126 2048 16384 0.00 428 | 3120 4096 NAN 4126 2048 16384 0.00 429 | 3120 4096 NAN 4126 2048 16384 0.00 430 | 3120 4096 NAN 4126 2048 16384 0.00 431 | 3120 4096 NAN 4126 2048 16384 0.00 432 | -------------------------------------------------------------------------------- /cockpit/logs/ljvdshdsvkldsf.txt: -------------------------------------------------------------------------------- 1 | Theta Angle Distance Heading Roll Pitch Voltage 2 | 0 0 0.00 0 0 0 0.00 3 | 0 30 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-------------------------------------------------------------------------------- 1 | 2 | 3 | GNU GENERAL PUBLIC LICENSE 4 | Version 2, June 1991 5 | 6 | Copyright (C) 1989, 1991 Free Software Foundation, Inc. 7 | 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 8 | Everyone is permitted to copy and distribute verbatim copies 9 | of this license document, but changing it is not allowed. 10 | 11 | Preamble 12 | 13 | The licenses for most software are designed to take away your 14 | freedom to share and change it. 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In such case, this License incorporates 237 | the limitation as if written in the body of this License. 238 | 239 | 9. The Free Software Foundation may publish revised and/or new versions 240 | of the General Public License from time to time. Such new versions will 241 | be similar in spirit to the present version, but may differ in detail to 242 | address new problems or concerns. 243 | 244 | Each version is given a distinguishing version number. If the Program 245 | specifies a version number of this License which applies to it and "any 246 | later version", you have the option of following the terms and conditions 247 | either of that version or of any later version published by the Free 248 | Software Foundation. If the Program does not specify a version number of 249 | this License, you may choose any version ever published by the Free Software 250 | Foundation. 251 | 252 | 10. If you wish to incorporate parts of the Program into other free 253 | programs whose distribution conditions are different, write to the author 254 | to ask for permission. For software which is copyrighted by the Free 255 | Software Foundation, write to the Free Software Foundation; we sometimes 256 | make exceptions for this. Our decision will be guided by the two goals 257 | of preserving the free status of all derivatives of our free software and 258 | of promoting the sharing and reuse of software generally. 259 | 260 | NO WARRANTY 261 | 262 | 11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY 263 | FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN 264 | OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES 265 | PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED 266 | OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF 267 | MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS 268 | TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE 269 | PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, 270 | REPAIR OR CORRECTION. 271 | 272 | 12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING 273 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR 274 | REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, 275 | INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING 276 | OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED 277 | TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY 278 | YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER 279 | PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE 280 | POSSIBILITY OF SUCH DAMAGES. 281 | 282 | END OF TERMS AND CONDITIONS 283 | 284 | How to Apply These Terms to Your New Programs 285 | 286 | If you develop a new program, and you want it to be of the greatest 287 | possible use to the public, the best way to achieve this is to make it 288 | free software which everyone can redistribute and change under these terms. 289 | 290 | To do so, attach the following notices to the program. It is safest 291 | to attach them to the start of each source file to most effectively 292 | convey the exclusion of warranty; and each file should have at least 293 | the "copyright" line and a pointer to where the full notice is found. 294 | 295 | 296 | Copyright (C) 297 | 298 | This program is free software; you can redistribute it and/or modify 299 | it under the terms of the GNU General Public License as published by 300 | the Free Software Foundation; either version 2 of the License, or 301 | (at your option) any later version. 302 | 303 | This program is distributed in the hope that it will be useful, 304 | but WITHOUT ANY WARRANTY; without even the implied warranty of 305 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 306 | GNU General Public License for more details. 307 | 308 | You should have received a copy of the GNU General Public License 309 | along with this program; if not, write to the Free Software 310 | Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 311 | 312 | 313 | Also add information on how to contact you by electronic and paper mail. 314 | 315 | If the program is interactive, make it output a short notice like this 316 | when it starts in an interactive mode: 317 | 318 | Gnomovision version 69, Copyright (C) year name of author 319 | Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 320 | This is free software, and you are welcome to redistribute it 321 | under certain conditions; type `show c' for details. 322 | 323 | The hypothetical commands `show w' and `show c' should show the appropriate 324 | parts of the General Public License. Of course, the commands you use may 325 | be called something other than `show w' and `show c'; they could even be 326 | mouse-clicks or menu items--whatever suits your program. 327 | 328 | You should also get your employer (if you work as a programmer) or your 329 | school, if any, to sign a "copyright disclaimer" for the program, if 330 | necessary. Here is a sample; alter the names: 331 | 332 | Yoyodyne, Inc., hereby disclaims all copyright interest in the program 333 | `Gnomovision' (which makes passes at compilers) written by James Hacker. 334 | 335 | , 1 April 1989 336 | Ty Coon, President of Vice 337 | 338 | This General Public License does not permit incorporating your program into 339 | proprietary programs. If your program is a subroutine library, you may 340 | consider it more useful to permit linking proprietary applications with the 341 | library. If this is what you want to do, use the GNU Library General 342 | Public License instead of this License. 343 | -------------------------------------------------------------------------------- /cockpit/logs/sasadkljhdaslkjas.txt: -------------------------------------------------------------------------------- 1 | Theta Angle Distance Heading Roll Pitch Voltage 2 | 0 0 0.00 0 0 0 0.00 3 | 22 22 423.41 342 0 -1 7.51 4 | 22 22 423.41 342 0 -1 7.51 5 | 22 22 423.41 342 0 -1 7.51 6 | 21 22 423.41 343 0 -1 7.50 7 | 21 22 423.41 343 0 -1 7.50 8 | 21 22 423.41 343 0 -1 7.50 9 | 21 22 423.41 343 0 -1 7.50 10 | 21 22 423.41 343 0 -1 7.50 11 | 0 0 0.00 0 0 0 0.00 12 | 0 0 0.00 0 0 0 0.00 13 | 21 22 423.41 343 0 -1 7.50 14 | 21 22 423.41 343 0 -1 7.50 15 | 21 22 423.41 343 0 -1 7.50 16 | 21 22 0.00 343 0 -129 0.00 17 | 21 22 0.00 343 0 -129 0.00 18 | 21 22 0.00 343 0 -129 0.00 19 | 21 22 0.00 343 0 -129 0.00 20 | 21 22 423.80 343 0 -1 7.49 21 | 21 22 423.80 343 0 -1 7.49 22 | 21 22 423.80 343 0 -1 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7.51 460 | 35 22 424.06 318 0 -2 7.50 461 | 35 22 424.06 318 0 -2 7.50 462 | 35 22 424.06 318 0 -2 7.50 463 | 35 22 424.06 318 0 -2 7.50 464 | 35 22 424.06 318 0 -2 7.50 465 | 35 22 424.06 318 0 -2 7.50 466 | 35 22 424.06 318 0 -2 7.50 467 | 0 0 0.00 0 0 32512 0.00 468 | 0 0 0.00 0 0 32512 0.00 469 | 0 0 0.00 0 0 32512 0.00 470 | 0 0 0.00 0 0 32512 0.00 471 | 35 22 424.06 318 0 -2 7.50 472 | 35 22 424.06 318 0 -2 7.50 473 | 35 22 424.06 318 0 -2 7.50 474 | 35 22 424.06 318 0 -2 7.50 475 | 35 22 424.06 318 0 -2 7.50 476 | 35 22 424.06 318 0 -2 7.50 477 | 35 22 424.06 318 0 -2 7.50 478 | 35 22 424.06 318 0 -2 7.50 479 | 35 22 424.06 318 0 -2 7.50 480 | 35 22 424.06 318 0 -2 7.50 481 | 35 22 424.06 318 0 -2 7.51 482 | 35 22 424.06 318 0 -2 7.51 483 | 35 22 424.06 318 0 -2 7.51 484 | 35 22 424.06 318 0 -2 7.51 485 | 35 22 424.06 319 0 -2 7.51 486 | 35 22 424.06 319 0 -2 7.51 487 | 35 22 424.06 319 0 -2 7.51 488 | 35 22 424.06 319 0 -2 7.51 489 | 35 22 424.06 319 0 -2 7.51 490 | 35 22 424.06 319 0 -2 7.51 491 | 35 22 424.06 319 0 -2 7.51 492 | 35 22 424.06 319 0 -2 7.52 493 | 35 22 424.06 319 0 -2 7.52 494 | 35 22 424.06 319 0 -2 7.52 495 | 35 22 424.06 319 0 -2 7.52 496 | 35 22 424.06 319 0 -2 7.52 497 | 35 22 424.06 319 0 -2 7.52 498 | 35 22 424.06 318 0 -2 7.53 499 | 35 22 424.06 318 0 -2 7.53 500 | 35 22 424.06 318 0 -2 7.53 501 | 35 22 424.06 319 0 -2 7.53 502 | 35 22 424.06 319 0 -2 7.53 503 | 35 22 424.06 319 0 -2 7.53 504 | 35 22 424.06 319 0 -2 7.54 505 | 35 22 424.06 319 0 -2 7.54 506 | 35 22 423.67 318 0 -2 7.52 507 | 35 22 423.67 318 0 -2 7.52 508 | 35 22 423.67 318 0 -2 7.52 509 | 35 22 423.67 318 0 -2 7.52 510 | 35 22 423.67 318 0 -2 7.52 511 | 35 22 423.67 318 0 -2 7.52 512 | 35 22 423.67 318 0 -2 7.52 513 | 35 22 423.67 318 0 -2 7.52 514 | 35 22 423.67 318 0 -2 7.52 515 | 35 22 423.67 318 0 -2 7.52 516 | 35 22 423.67 318 0 -2 7.52 517 | 35 22 423.67 318 0 -2 7.53 518 | 35 22 423.67 318 0 -2 7.53 519 | 35 22 423.67 318 0 -2 7.53 520 | 35 22 423.67 318 0 -2 7.53 521 | 35 22 423.67 318 0 -2 7.53 522 | 35 22 423.67 318 0 -2 7.53 523 | 35 22 423.67 318 0 -2 7.53 524 | 35 22 423.67 318 0 -2 7.53 525 | 35 22 423.67 318 0 -2 7.53 526 | 35 22 423.67 318 0 -2 7.53 527 | 35 22 423.67 318 0 -2 7.53 528 | 35 22 423.67 318 0 -2 7.53 529 | 35 22 423.67 318 0 -2 7.53 530 | 35 22 423.67 318 0 -2 7.53 531 | 35 22 423.67 318 0 -2 7.53 532 | 35 22 423.67 318 0 -2 7.53 533 | 35 22 423.67 318 0 -2 7.53 534 | 36 22 423.67 317 0 -2 7.53 535 | 36 22 423.67 317 0 -2 7.53 536 | 36 22 423.67 317 0 -2 7.53 537 | 36 22 423.67 317 0 -2 7.53 538 | 36 22 423.67 317 0 -2 7.53 539 | 36 22 423.67 317 0 -2 7.53 540 | 36 22 423.67 317 0 -2 7.53 541 | 36 22 423.67 317 0 -2 7.53 542 | 36 22 423.67 317 0 -2 7.53 543 | 36 22 423.67 317 0 -2 7.53 544 | 36 22 423.67 317 0 -2 7.53 545 | 36 22 423.67 317 0 -2 7.52 546 | 36 22 423.67 317 0 -2 7.52 547 | 36 22 423.67 317 0 -2 7.52 548 | 35 22 423.67 318 0 -2 7.52 549 | 35 22 423.67 318 0 -2 7.52 550 | 35 22 423.67 318 0 -2 7.52 551 | 35 22 423.67 318 0 -2 7.52 552 | 35 22 423.67 318 0 -2 7.52 553 | 35 22 423.67 318 0 -2 7.52 554 | 35 22 423.67 318 0 -2 7.52 555 | 35 22 423.67 318 0 -2 7.52 556 | 35 22 423.67 318 0 -2 7.52 557 | 35 22 423.67 319 0 -2 7.50 558 | 35 22 423.67 319 0 -2 7.50 559 | 35 22 423.67 318 0 -2 7.50 560 | 35 22 423.67 318 0 -2 7.50 561 | 35 22 423.67 318 0 -2 7.50 562 | 35 22 423.67 318 0 -2 7.50 563 | 35 22 423.67 319 0 -2 7.49 564 | 35 22 423.67 319 0 -2 7.49 565 | 35 22 423.67 319 0 -2 7.49 566 | 35 22 423.67 319 0 -2 7.50 567 | 35 22 423.67 319 0 -2 7.50 568 | 35 22 423.67 319 0 -2 7.50 569 | 35 22 423.67 319 0 -2 7.50 570 | 35 22 423.67 319 0 -2 7.50 571 | 35 22 423.67 319 0 -2 7.50 572 | 35 22 423.67 319 0 -2 7.50 573 | 35 22 423.67 318 0 -2 7.51 574 | 35 22 423.67 318 0 -2 7.51 575 | 35 22 423.67 318 0 -2 7.51 576 | 35 22 423.67 318 0 -2 7.51 577 | 35 22 423.67 319 0 -2 7.51 578 | 35 22 423.67 319 0 -2 7.51 579 | 35 22 423.67 319 0 -2 7.51 580 | 35 22 423.67 318 0 -2 7.51 581 | 35 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-------------------------------------------------------------------------------- /cockpit/dial.py: -------------------------------------------------------------------------------- 1 | import math 2 | import serial 3 | import pygame 4 | from pygame.locals import * 5 | from pygame import mixer 6 | import sys 7 | 8 | #import threading 9 | import textToSpeech 10 | 11 | pygame.init() 12 | 13 | class Dial: 14 | """ 15 | Generic dial type. 16 | """ 17 | def __init__(self, image, frameImage, x=0, y=0, w=0, h=0): 18 | """ 19 | x,y = coordinates of top left of dial. 20 | w,h = Width and Height of dial. 21 | """ 22 | self.x = x 23 | self.y = y 24 | self.image = image 25 | self.frameImage = frameImage 26 | self.dial = pygame.Surface(self.frameImage.get_rect()[2:4]) 27 | self.dial.fill(0xFFFF00) 28 | if(w==0): 29 | w = self.frameImage.get_rect()[2] 30 | if(h==0): 31 | h = self.frameImage.get_rect()[3] 32 | self.w = w 33 | self.h = h 34 | self.pos = self.dial.get_rect() 35 | self.pos = self.pos.move(x, y) 36 | 37 | def position(self, x, y): 38 | """ 39 | Reposition top,left of dial at x,y. 40 | """ 41 | self.x = x 42 | self.y = y 43 | self.pos[0] = x 44 | self.pos[1] = y 45 | 46 | def position_center(self, x, y): 47 | """ 48 | Reposition centre of dial at x,y. 49 | """ 50 | self.x = x 51 | self.y = y 52 | self.pos[0] = x - self.pos[2]/2 53 | self.pos[1] = y - self.pos[3]/2 54 | 55 | def rotate(self, image, angle): 56 | """ 57 | Rotate supplied image by "angle" degrees. 58 | This rotates round the centre of the image. 59 | If you need to offset the centre, resize the image using self.clip. 60 | This is used to rotate dial needles and probably doesn't need to be used externally. 61 | """ 62 | tmpImage = pygame.transform.rotate(image ,angle) 63 | imageCentreX = tmpImage.get_rect()[0] + tmpImage.get_rect()[2]/2 64 | imageCentreY = tmpImage.get_rect()[1] + tmpImage.get_rect()[3]/2 65 | 66 | targetWidth = tmpImage.get_rect()[2] 67 | targetHeight = tmpImage.get_rect()[3] 68 | 69 | imageOut = pygame.Surface((targetWidth, targetHeight)) 70 | imageOut.fill(0xFFFF00) 71 | imageOut.set_colorkey(0xFFFF00) 72 | imageOut.blit(tmpImage,(0,0), pygame.Rect( imageCentreX-targetWidth/2,imageCentreY-targetHeight/2, targetWidth, targetHeight ) ) 73 | return imageOut 74 | 75 | def clip(self, image, x=0, y=0, w=0, h=0, oX=0, oY=0): 76 | """ 77 | Cuts out a part of the needle image at x,y position to the correct size (w,h). 78 | This is put on to "imageOut" at an offset of oX,oY if required. 79 | This is used to centre dial needles and probably doesn't need to be used externally. 80 | """ 81 | if(w==0): 82 | w = image.get_rect()[2] 83 | if(h==0): 84 | h = image.get_rect()[3] 85 | needleW = w + 2*math.sqrt(oX*oX) 86 | needleH = h + 2*math.sqrt(oY*oY) 87 | imageOut = pygame.Surface((needleW, needleH)) 88 | imageOut.fill(0xFFFF00) 89 | imageOut.set_colorkey(0xFFFF00) 90 | imageOut.blit(image, (needleW/2-w/2+oX, needleH/2-h/2+oY), pygame.Rect(x,y,w,h)) 91 | return imageOut 92 | 93 | def overlay(self, image, x, y, r=0): 94 | """ 95 | Overlays one image on top of another using 0xFFFF00 (Yellow) as the overlay colour. 96 | """ 97 | x -= (image.get_rect()[2] - self.dial.get_rect()[2])/2 98 | y -= (image.get_rect()[3] - self.dial.get_rect()[3])/2 99 | image.set_colorkey(0xFFFF00) 100 | self.dial.blit(image, (x,y)) 101 | 102 | 103 | 104 | 105 | class Horizon(Dial): 106 | """ 107 | Artificial horizon dial. 108 | """ 109 | def __init__(self, x=0, y=0, w=0, h=0): 110 | """ 111 | Initialise dial at x,y. 112 | Default size of 300px can be overidden using w,h. 113 | """ 114 | self.image = pygame.image.load('resources/Horizon_GroundSky2.png').convert() 115 | self.frameImage = pygame.image.load('resources/Horizon_Background.png').convert() 116 | self.maquetteImage = pygame.image.load('resources/Maquette_Avion.png').convert() 117 | Dial.__init__(self, self.image, self.frameImage, x, y, w, h) 118 | def update(self, screen, angleX, angleY): 119 | """ 120 | Called to update an Artificial horizon dial. 121 | "angleX" and "angleY" are the inputs. 122 | "screen" is the surface to draw the dial on. 123 | """ 124 | angleX %= 360 125 | angleY %= 360 126 | if (angleX > 180): 127 | angleX -= 360 128 | if (angleY > 90)and(angleY < 270): 129 | angleY = 180 - angleY 130 | elif (angleY > 270): 131 | angleY -= 360 132 | tmpImage = self.clip(self.image, 0, (59-angleY)*720/180, 250, 250) 133 | tmpImage = self.rotate(tmpImage, angleX) 134 | self.overlay(tmpImage, 0, 0) 135 | self.overlay(self.frameImage, 0,0) 136 | self.overlay(self.maquetteImage, 0,0) 137 | self.dial.set_colorkey(0xFFFF00) 138 | screen.blit( pygame.transform.scale(self.dial,(self.w,self.h)), self.pos ) 139 | 140 | class TurnCoord(Dial): 141 | """ 142 | Turn Coordinator dial. 143 | """ 144 | def __init__(self, x=0, y=0, w=0, h=0): 145 | """ 146 | Initialise dial at x,y. 147 | Default size of 300px can be overidden using w,h. 148 | """ 149 | self.image = pygame.image.load('resources/TurnCoordinatorAircraft.png').convert() 150 | self.frameImage = pygame.image.load('resources/TurnCoordinator_Background.png').convert() 151 | self.marks = pygame.image.load('resources/TurnCoordinatorMarks.png').convert() 152 | self.ball = pygame.image.load('resources/TurnCoordinatorBall.png').convert() 153 | Dial.__init__(self, self.image, self.frameImage, x, y, w, h) 154 | def update(self, screen, angleX, angleY): 155 | """ 156 | Called to update a Turn Coordinator dial. 157 | "angleX" and "angleY" are the inputs. 158 | "screen" is the surface to draw the dial on. 159 | """ 160 | angleX %= 360 161 | angleY %= 360 162 | if (angleX > 180): 163 | angleX -= 360 164 | if (angleY > 180): 165 | angleY -= 360 166 | if(angleY > 14): 167 | angleY = 14 168 | if(angleY < -14): 169 | angleY = -14 170 | tmpImage = self.clip(self.image, 0, 0, 0, 0, 0, -12) 171 | tmpImage = self.rotate(tmpImage, angleX) 172 | self.overlay(self.frameImage, 0,0) 173 | self.overlay(tmpImage, 0, 0) 174 | tmpImage = self.clip(self.marks, 0, 0, 0, 0, 0, 0) 175 | self.overlay(tmpImage, 0, 80) 176 | tmpImage = self.clip(self.ball, 0, 0, 0, 0, 0, 300) 177 | tmpImage = self.rotate(tmpImage, angleY) 178 | self.overlay(tmpImage, 0, -220) 179 | self.dial.set_colorkey(0xFFFF00) 180 | screen.blit( pygame.transform.scale(self.dial,(self.w,self.h)), self.pos ) 181 | 182 | class Generic(Dial): 183 | """ 184 | Generic Dial. This is built on by other dials. 185 | """ 186 | def __init__(self, x=0, y=0, w=0, h=0): 187 | """ 188 | Initialise dial at x,y. 189 | Default size of 300px can be overidden using w,h. 190 | """ 191 | self.image = pygame.image.load('resources/AirSpeedNeedle.png').convert() 192 | self.frameImage = pygame.image.load('resources/Indicator_Background.png').convert() 193 | Dial.__init__(self, self.image, self.frameImage, x, y, w, h) 194 | def update(self, screen, angleX, iconLayer=0): 195 | """ 196 | Called to update a Generic dial. 197 | "angleX" and "angleY" are the inputs. 198 | "screen" is the surface to draw the dial on. 199 | """ 200 | angleX %= 360 201 | angleX = 360 - angleX 202 | tmpImage = self.clip(self.image, 0, 0, 0, 0, 0, -35) 203 | tmpImage = self.rotate(tmpImage, angleX) 204 | self.overlay(self.frameImage, 0,0) 205 | if iconLayer: 206 | self.overlay(iconLayer[0],iconLayer[1],iconLayer[2]) 207 | self.overlay(tmpImage, 0, 0) 208 | self.dial.set_colorkey(0xFFFF00) 209 | screen.blit( pygame.transform.scale(self.dial,(self.w,self.h)), self.pos ) 210 | 211 | class HeadingGeneric(Dial): 212 | """ 213 | Generic Dial. This is built on by other dials. 214 | """ 215 | def __init__(self, x=0, y=0, w=0, h=0): 216 | """ 217 | Initialise dial at x,y. 218 | Default size of 300px can be overidden using w,h. 219 | """ 220 | self.image = pygame.image.load('resources/HeadingIndicator_Aircraft.png').convert() 221 | self.image2 = pygame.image.load('resources/LongNeedleAltimeter.png').convert() 222 | self.frameImage = pygame.image.load('resources/HeadingIndicator_Background.png').convert() 223 | Dial.__init__(self, self.image, self.frameImage, x, y, w, h) 224 | def update(self, screen, angleX, iconLayer=0): 225 | """ 226 | Called to update a Generic dial. 227 | "angleX" and "angleY" are the inputs. 228 | "screen" is the surface to draw the dial on. 229 | """ 230 | angleX %= 360 231 | angleX = 360 - angleX 232 | tmpImage = self.clip(self.image, 0, 0, 0, 0, 0, -35) 233 | tmpImage = self.rotate(tmpImage, angleX) 234 | self.overlay(self.frameImage, 0,0) 235 | if iconLayer: 236 | self.overlay(iconLayer[0],iconLayer[1],iconLayer[2]) 237 | self.overlay(tmpImage, 0, 0) 238 | self.dial.set_colorkey(0xFFFF00) 239 | screen.blit( pygame.transform.scale(self.dial,(self.w,self.h)), self.pos ) 240 | 241 | class Battery(Generic): 242 | """ 243 | Battery dial. 244 | """ 245 | def __init__(self, x=0, y=0, w=0, h=0): 246 | """ 247 | Initialise dial at x,y. 248 | Default size of 300px can be overidden using w,h. 249 | """ 250 | self.icon = pygame.image.load('resources/battery2.png').convert() 251 | Generic.__init__(self, x, y, w, h) 252 | self.frameImage = pygame.image.load('resources/ledgend.png').convert() 253 | def update(self, screen, angleX): 254 | """ 255 | Called to update a Battery dial. 256 | "angleX" is the input. 257 | "screen" is the surface to draw the dial on. 258 | """ 259 | if angleX > 100: 260 | angleX = 100 261 | elif angleX < 0: 262 | angleX = 0 263 | angleX *= 2.7 264 | angleX -= 135 265 | Generic.update(self, screen, angleX, (self.icon, 0, 100)) 266 | class Heading(HeadingGeneric): 267 | """ 268 | Battery dial. 269 | """ 270 | def __init__(self, x=0, y=0, w=0, h=0): 271 | """ 272 | Initialise dial at x,y. 273 | Default size of 300px can be overidden using w,h. 274 | """ 275 | HeadingGeneric.__init__(self, x, y, w, h) 276 | self.icon = pygame.image.load('resources/HeadingWeel.png').convert() 277 | 278 | def update(self, screen, angleX): 279 | """ 280 | Called to update a Battery dial. 281 | "angleX" is the input. 282 | "screen" is the surface to draw the dial on. 283 | """ 284 | HeadingGeneric.update(self, screen, angleX, (self.icon, 0, 0)) 285 | 286 | class RfSignal(Generic): 287 | """ 288 | RF Signal dial. 289 | """ 290 | def __init__(self, x=0, y=0, w=0, h=0): 291 | """ 292 | Initialise dial at x,y. 293 | Default size of 300px can be overidden using w,h. 294 | """ 295 | self.image = pygame.Surface((0,0)) 296 | self.frameImage = pygame.image.load('resources/RF_Dial_Background.png').convert() 297 | Dial.__init__(self, self.image, self.frameImage, x, y, w, h) 298 | def update(self, screen, inputA, inputB, scanPos): 299 | """ 300 | "screen" is the surface to draw the dial on. 301 | """ 302 | 303 | top = self.dial.get_rect()[0] +60 304 | left = self.dial.get_rect()[1] +30 305 | bottom = self.dial.get_rect()[0] + self.dial.get_rect()[2] -60 306 | right = self.dial.get_rect()[1] + self.dial.get_rect()[3] -30 307 | height = bottom - top 308 | middle = height/2 + top 309 | 310 | scanPos %= right -30 311 | scanPos += 30 312 | inputA %= 100 313 | inputB %= 100 314 | inputA = height * inputA / 200 315 | inputB = height * inputB / 200 316 | 317 | pygame.draw.line(self.dial, 0xFFFFFF, (scanPos,top), (scanPos,bottom), 1) 318 | pygame.draw.line(self.dial, 0x222222, (scanPos-1,top), (scanPos-1,bottom), 1) 319 | 320 | pygame.draw.line(self.dial, 0x00FFFF, (scanPos-1,middle-inputA), (scanPos-1,middle),4) 321 | pygame.draw.line(self.dial, 0xFF00FF, (scanPos-1,bottom-inputB), (scanPos-1,bottom),4) 322 | pygame.draw.line(self.dial, 0xFFFF00, (scanPos-1,middle), (scanPos-1,middle)) 323 | 324 | self.overlay(self.frameImage, 0,0) 325 | 326 | self.dial.set_colorkey(0xFFFF00) 327 | screen.blit( pygame.transform.scale(self.dial,(self.w,self.h)), self.pos ) 328 | 329 | class GenericText(): 330 | """ 331 | Generic Dial. This is built on by other dials. 332 | """ 333 | def __init__(self, x=0, y=0, font=0): 334 | """ 335 | Initialise dial at x,y. 336 | Default size of 300px can be overidden using w,h. 337 | """ 338 | self.X = x 339 | self.Y = y 340 | self.font = font 341 | print() 342 | #self.frameImage = pygame.image.load('resources/Indicator_Background.png').convert() 343 | def update(self, screen, textStr, textNum, threshold): 344 | 345 | red = (255, 0, 0) 346 | green = (0, 255, 0) 347 | black = (0, 0, 0) 348 | 349 | # assigning values to X and Y variable 350 | #self.X = 700 351 | #self.Y = 255 352 | 353 | 354 | # set the pygame window name 355 | pygame.display.set_caption('Show Text') 356 | 357 | font = pygame.font.Font('freesansbold.ttf', self.font) 358 | 359 | # create a text suface object, 360 | # on which text is drawn on it. 361 | if(textNum < threshold): 362 | text = font.render(textStr + str(textNum), True, green, black) 363 | #tts.speak("Waypoint") 364 | else: 365 | text = font.render(textStr + str(textNum), True, red, black) 366 | 367 | numChars = len(textStr) + len(str(textNum)) 368 | 369 | 370 | textRect = pygame.Rect((self.X, self.Y), (numChars*self.font, self.font)) 371 | pygame.draw.rect(pygame.display.get_surface(), black, textRect) 372 | 373 | screen.blit(text, (self.X, self.Y)) 374 | 375 | 376 | 377 | 378 | 379 | 380 | 381 | 382 | import serial.tools.list_ports 383 | import keyboard 384 | 385 | 386 | # Returns list of all accessible serial ports 387 | def getPorts(): 388 | portData = serial.tools.list_ports.comports() 389 | return portData 390 | 391 | # Returns COM port of Arduino if detected by computer. User for switchbox 392 | def findArduino(portsFound): 393 | numConnections = len(portsFound) 394 | for i in range(0, numConnections): 395 | if ('Uno' in str(portsFound[i]) or 'Nano' in str(portsFound[i]) or 'CH340' in str(portsFound[i])): 396 | return str(portsFound[i]) 397 | return "None" 398 | 399 | 400 | def conv(str): 401 | return str[2:len(str) - 5] 402 | 403 | 404 | 405 | tts = textToSpeech.TextToSpeech() 406 | tts.setRate(210) 407 | tts.setMF("female") 408 | 409 | # GET ARDUINO STATUS / Update on GUI connection label 410 | status = findArduino(getPorts()) 411 | ser = serial.Serial() 412 | test = 1 413 | if (not (status == "None")): 414 | ser = serial.Serial(status.split()[0], 115200) 415 | test = 0 416 | file = open("positions.kml", "r+") 417 | file.truncate(0) 418 | file.close() 419 | 420 | 421 | arr = [] 422 | i = 0 423 | 424 | fileName = "" 425 | if(test == 0): # change 1 to 0 once done 426 | fileName = input("Enter file name (without file extension): ") 427 | fileName = "logs/" + fileName + ".txt" 428 | f = open(fileName, "a") 429 | # thetaScaled angle distance Heading Roll Pitch Voltage 430 | f.write("Theta\tAngle\tDistance\tHeading\tRoll\tPitch\tVoltage\n") 431 | f.close() 432 | 433 | 434 | 435 | # Initialise screen. 436 | screen = pygame.display.set_mode((1000, 1050), pygame.FULLSCREEN) 437 | screen.fill(0x000) 438 | 439 | 440 | # Initialise Dials. 441 | horizon = Horizon(10,10, 500, 500) 442 | turn = TurnCoord(10,520,250,250) 443 | throttle = Generic(260,520,250,250) 444 | RXbattery = Battery(520,780,250,250) 445 | heading = Heading(520,520,250,250) 446 | rfSignal = RfSignal(10,780,500,250) 447 | dist = GenericText(530,55,30) 448 | 449 | pps = GenericText(530,110,30) 450 | speed = GenericText(530,165,30) 451 | 452 | a=0 453 | 454 | 455 | while 1: 456 | # Main program loop. 457 | if (keyboard.is_pressed('q')): 458 | print("Exiting....") 459 | ser.close() # close serial port. 460 | pygame.quit() 461 | sys.exit() 462 | 463 | for event in pygame.event.get(): 464 | if event.type == QUIT: 465 | print("Exiting....") 466 | ser.close() # close serial port. 467 | pygame.quit() 468 | sys.exit() # end program. 469 | if event.type == pygame.VIDEORESIZE: 470 | surface = pygame.display.set_mode((event.w, event.h), 471 | pygame.RESIZABLE) 472 | 473 | 474 | i += 1 475 | 476 | if(test == 1): 477 | # Use dummy test data 478 | curPos = pygame.mouse.get_pos() 479 | rf_data = [0, 0, i, 0, curPos[0]/2, curPos[1]/2, 0, 0, 0, 0, 0] 480 | pygame.time.delay(100) 481 | if(i > 50): 482 | i = 0 483 | else: 484 | # Get real data from USB port. 485 | rf_data = conv(str(ser.readline())).split("\\t") 486 | if (i > 50): 487 | i = 0 488 | ser.flushInput() 489 | 490 | if(len(rf_data) >= 11): 491 | # We have data. 492 | a+=1 493 | 494 | #PRINT ALL SERIAL DATA RECEIVED 495 | #print(rf_data) 496 | 497 | # Update dials. 498 | try: 499 | #String(currentTheta.value) + "\t" + String(headingReq.value) + "\t" + String(distanceTo.value) + "\t" + String(currentHeading.value) + "\t" + String(currentRoll.value) + "\t" + String(currentPitch.value) + "\t" + String(currentVoltage.value) + "\t" + String(currentLat.value, 7) + "\t" + String(currentLon.value, 7) + "\t" + String(currentSpeed.value); 500 | horizon.update(screen, int(rf_data[4]), int(rf_data[5]) - 8 ) 501 | turn.update(screen, -int(rf_data[4])/2, -int(rf_data[4])/4) 502 | throttle.update(screen, int(rf_data[0])) 503 | RXbattery.update(screen, 100*((float(rf_data[6]) - 7.22)/1.18) ) 504 | rfSignal.update(screen, 0, 0, a) 505 | heading.update(screen, int(rf_data[3])) 506 | dist.update(screen, "Distance: ", float(rf_data[2]), 3) 507 | pps.update(screen, "PPS: ", float(rf_data[10]), 3) 508 | speed.update(screen, "Speed (mph): ", float(rf_data[9]), 20) 509 | 510 | if(test == 0): 511 | f = open(fileName, "a") 512 | # thetaScaled angle distance Heading Roll Pitch Voltage 513 | f.write(str(rf_data[0]) + "\t" + str(rf_data[1]) + "\t" + str(rf_data[2]) + "\t" + str( 514 | rf_data[3]) + "\t" + str(rf_data[4]) + "\t" + str(rf_data[5]) + "\t" + str(rf_data[6]) + "\t" + str(rf_data[7]) + "\t" + str(rf_data[8]) + "\t" + str(rf_data[9]) + "\t" + str(rf_data[10]) + "\n") 515 | f.close() 516 | 517 | if((float(rf_data[7]) > 5 or float(rf_data[7]) < -5) and (float(rf_data[8]) > 5 or float(rf_data[8]) < -5)): 518 | with open("positions.kml", "w") as pos: 519 | pos.write(""" 521 | UGV 522 | GPS Data from UGV 523 | 524 | %s,%s,%s 525 | 526 | 534 | 535 | %s 536 | %s 537 | 2000 538 | clampToGround 539 | 45 540 | 15 541 | %s 542 | 543 | """ % (rf_data[8], rf_data[7], 0, rf_data[8], rf_data[7], rf_data[3])) 544 | else: 545 | print("INVALID GPS") 546 | 547 | 548 | except: 549 | print("SERIAL ERROR") 550 | 551 | pygame.display.update() 552 | 553 | 554 | 555 | -------------------------------------------------------------------------------- /cockpit/logs/habdidb.txt: -------------------------------------------------------------------------------- 1 | Theta Angle Distance Heading Roll Pitch Voltage 2 | 39 22 420.82 311 0 -2 7.48 3 | 39 22 420.82 311 0 -2 7.49 4 | 39 22 420.82 311 0 -2 7.49 5 | 39 22 420.82 311 0 -2 7.49 6 | 39 22 420.82 311 0 -2 7.49 7 | 39 22 420.82 311 0 -2 7.49 8 | 39 22 420.82 311 0 -2 7.49 9 | 39 22 420.82 311 0 -2 7.49 10 | 39 22 420.82 311 0 -2 7.49 11 | 39 22 420.82 311 0 -2 7.49 12 | 39 22 420.82 311 0 -2 7.49 13 | 39 22 420.82 311 0 -2 7.49 14 | 39 22 420.82 311 0 -2 7.49 15 | 39 22 420.82 311 0 -2 7.49 16 | 39 22 420.82 311 0 -2 7.49 17 | 39 22 420.82 311 0 -2 7.49 18 | 39 22 420.82 311 0 -2 7.49 19 | 39 22 420.82 311 0 -2 7.48 20 | 39 22 420.82 311 0 -2 7.48 21 | 39 22 420.82 311 0 -2 7.48 22 | 39 22 420.82 311 0 -2 7.48 23 | 39 22 420.82 311 0 -2 7.48 24 | 0 0 0.00 0 0 0 0.00 25 | 0 0 0.00 0 0 0 0.00 26 | 39 22 420.82 311 0 -2 7.48 27 | 39 22 420.82 311 0 -2 7.48 28 | 39 22 420.82 311 0 -2 7.48 29 | 39 22 420.82 311 0 -2 7.48 30 | 39 22 420.82 311 0 -2 7.48 31 | 39 22 420.82 311 0 -2 7.48 32 | 39 22 420.82 311 0 -2 7.48 33 | 39 22 420.82 311 0 -2 7.48 34 | 39 22 420.82 311 0 -2 7.48 35 | 39 22 420.82 311 0 -2 7.48 36 | 39 22 420.82 311 0 -2 7.48 37 | 39 22 420.82 311 0 -2 7.48 38 | 39 22 420.82 311 0 -2 7.48 39 | 39 22 420.82 311 0 -2 7.48 40 | 39 22 420.82 311 0 -2 7.48 41 | 0 0 0.00 0 0 0 0.00 42 | 0 0 0.00 0 0 0 0.00 43 | 39 22 420.82 311 0 -2 7.48 44 | 39 22 420.82 311 0 -2 7.48 45 | 0 0 0.00 0 0 0 0.00 46 | 0 0 0.00 0 0 0 0.00 47 | 39 22 420.82 311 0 -2 7.48 48 | 39 22 420.82 311 0 -2 7.48 49 | 39 22 420.82 311 0 -2 7.48 50 | 39 22 420.82 311 0 -2 7.47 51 | 39 22 420.82 311 0 -2 7.47 52 | 0 2 0.00 24 0 -2 7.47 53 | 0 2 0.00 24 0 -2 7.47 54 | 0 2 0.00 24 0 -2 7.47 55 | 0 2 0.00 24 0 -2 7.47 56 | 38 22 420.82 313 0 -2 7.46 57 | 38 22 420.82 313 0 -2 7.46 58 | 38 22 420.82 313 0 -2 7.46 59 | 38 22 420.82 313 0 -2 7.46 60 | 38 22 420.82 313 0 -2 7.46 61 | 38 22 420.82 313 0 -2 7.46 62 | 38 22 420.82 313 0 -2 7.46 63 | 38 22 420.82 312 0 -2 7.46 64 | 38 22 420.82 312 0 -2 7.46 65 | 38 22 420.82 312 0 -2 7.46 66 | 38 22 420.82 312 0 -2 7.47 67 | 38 22 420.82 312 0 -2 7.47 68 | 38 22 420.82 312 0 -2 7.47 69 | 38 22 420.82 312 0 -2 7.47 70 | 38 22 420.82 312 0 -2 7.47 71 | 38 22 420.82 312 0 -2 7.47 72 | 38 22 420.82 312 0 -2 7.47 73 | 38 22 420.82 312 0 -2 7.47 74 | 38 22 420.82 312 0 -2 7.47 75 | 0 0 0.00 0 0 0 0.00 76 | 0 0 0.00 0 0 0 0.00 77 | 38 22 420.82 312 0 -2 7.46 78 | 38 22 420.82 312 0 -2 7.46 79 | 38 22 420.82 312 0 -2 7.46 80 | 2 0 0.00 0 0 0 0.00 81 | 2 0 0.00 0 0 0 0.00 82 | 2 0 0.00 0 0 0 0.00 83 | 38 22 420.82 312 0 -2 7.47 84 | 38 22 420.82 312 0 -2 7.47 85 | 38 22 420.82 312 0 -2 7.47 86 | 38 22 420.82 312 0 -2 7.47 87 | 38 22 420.82 312 0 -2 7.47 88 | 38 22 420.82 312 0 -2 7.47 89 | 38 22 420.82 312 0 -2 7.47 90 | 38 22 420.82 312 0 -2 7.47 91 | 38 22 420.82 312 0 -2 7.47 92 | 38 22 420.82 312 0 -2 7.48 93 | 38 22 420.82 312 0 -2 7.48 94 | 38 22 420.82 312 0 -2 7.48 95 | 38 22 420.82 312 0 -2 7.48 96 | 38 22 420.82 312 0 -2 7.48 97 | 38 22 420.82 312 0 -2 7.48 98 | 38 22 420.82 312 0 -2 7.48 99 | 38 22 420.82 312 0 -2 7.48 100 | 38 22 420.82 312 0 -2 7.48 101 | 38 22 420.82 312 0 -2 7.48 102 | 0 0 0.00 0 0 0 0.00 103 | 38 22 420.82 312 0 -2 7.47 104 | 38 22 420.82 312 0 -2 7.47 105 | 38 22 420.82 312 0 -2 7.47 106 | 38 22 420.82 312 0 -2 7.47 107 | 38 22 420.82 312 0 -2 7.47 108 | 38 22 420.82 312 0 -2 7.47 109 | 38 22 420.82 312 0 -2 7.47 110 | 38 22 420.82 312 0 -2 7.47 111 | 38 22 420.82 312 0 -2 7.47 112 | 38 22 420.82 312 0 -2 7.47 113 | 38 22 420.82 312 0 -2 7.47 114 | 38 22 420.82 312 0 -2 7.47 115 | 38 22 420.82 312 0 -2 7.47 116 | 39 22 420.82 311 0 -2 7.47 117 | 0 0 0.00 0 0 0 0.00 118 | 0 0 0.00 0 0 0 0.00 119 | 0 0 0.00 0 0 0 0.00 120 | 39 22 420.82 311 0 -2 7.47 121 | 39 22 420.82 311 0 -2 7.47 122 | 39 22 420.82 311 0 -2 7.47 123 | 39 22 420.82 311 0 -2 7.47 124 | 39 22 420.82 311 0 -2 7.47 125 | 39 22 420.82 311 0 -2 7.47 126 | 39 22 420.82 311 0 -2 7.47 127 | 39 22 420.82 311 0 -2 7.47 128 | 39 22 420.82 311 0 -2 7.47 129 | 39 22 420.82 311 0 -2 7.47 130 | 39 22 420.82 311 0 -2 7.46 131 | 39 22 420.82 311 0 -2 7.46 132 | 39 22 420.82 311 0 -2 7.46 133 | 39 22 420.82 311 0 -2 7.47 134 | 0 0 0.00 0 0 0 0.00 135 | 0 0 0.00 0 0 0 0.00 136 | 0 0 0.00 0 0 0 0.00 137 | 38 22 420.82 312 0 -2 7.46 138 | 38 22 420.82 312 0 -2 7.46 139 | 38 22 420.82 312 0 -2 7.46 140 | 2 0 0.00 0 0 0 0.00 141 | 2 0 0.00 0 0 0 0.00 142 | 2 0 0.00 0 0 0 0.00 143 | 2 0 0.00 0 0 0 0.00 144 | 38 22 420.82 312 0 -2 7.46 145 | 38 22 420.82 312 0 -2 7.46 146 | 38 22 420.82 312 0 -2 7.46 147 | 38 22 420.82 312 0 -2 7.46 148 | 38 22 420.82 312 0 -2 7.46 149 | 38 22 420.82 312 0 -2 7.46 150 | 38 22 420.82 312 0 -2 7.46 151 | 39 22 420.82 311 0 -2 7.46 152 | 39 22 420.82 311 0 -2 7.46 153 | 38 22 420.82 312 0 -2 7.47 154 | 38 22 420.82 312 0 -2 7.47 155 | 38 22 420.82 312 0 -2 7.47 156 | 38 22 420.82 312 0 -2 7.47 157 | 38 22 420.82 312 0 -2 7.46 158 | 38 22 420.82 312 0 -2 7.46 159 | 38 22 420.82 312 0 -2 7.46 160 | 38 22 420.82 312 0 -2 7.46 161 | 38 22 420.82 312 0 -2 7.46 162 | 38 22 420.82 312 0 -2 7.46 163 | 38 22 420.82 312 0 -2 7.46 164 | 38 22 420.82 312 0 -2 7.46 165 | 38 22 420.82 312 0 -2 7.46 166 | 38 22 420.82 312 0 -2 7.46 167 | 38 22 420.82 312 0 -2 7.46 168 | 38 22 420.82 312 0 -2 7.46 169 | 38 22 420.82 312 0 -2 7.46 170 | 38 22 420.82 312 0 -2 7.46 171 | 39 22 420.82 311 0 -2 7.46 172 | 39 22 420.82 311 0 -2 7.46 173 | 39 22 420.82 311 0 -2 7.46 174 | 39 22 420.82 311 0 -2 7.46 175 | 39 22 420.82 311 0 -2 7.46 176 | 39 22 420.82 311 0 -2 7.46 177 | 39 22 420.82 311 0 -2 7.46 178 | 3 0 0.00 0 0 0 0.00 179 | 3 0 0.00 0 0 0 0.00 180 | 3 0 0.00 0 0 0 0.00 181 | 3 0 0.00 0 0 0 0.00 182 | 39 22 420.82 311 0 -2 7.46 183 | 39 22 420.82 311 0 -2 7.46 184 | 39 22 420.82 311 0 -2 7.46 185 | 2 2 0.00 0 0 0 0.00 186 | 2 2 0.00 0 0 0 0.00 187 | 2 2 0.00 0 0 0 0.00 188 | 2 2 0.00 0 0 0 0.00 189 | 0 0 0.00 0 0 32638 0.00 190 | 0 0 0.00 0 0 32638 0.00 191 | 0 0 0.00 0 0 32638 0.00 192 | 39 22 420.82 311 0 -2 7.46 193 | 39 22 420.82 311 0 -2 7.46 194 | 39 22 420.82 311 0 -2 7.46 195 | 39 22 420.82 311 0 -2 7.46 196 | 38 22 420.82 312 0 -2 7.47 197 | 38 22 420.82 312 0 -2 7.47 198 | 38 22 420.82 312 0 -2 7.47 199 | 38 22 420.82 312 0 -2 7.46 200 | 38 22 420.82 312 0 -2 7.46 201 | 0 0 0.00 0 0 0 0.00 202 | 0 0 0.00 0 0 0 0.00 203 | 38 22 420.82 312 0 -2 7.46 204 | 38 22 420.82 312 0 -2 7.47 205 | 38 22 420.82 312 0 -2 7.47 206 | 38 22 420.82 312 0 -2 7.48 207 | 38 22 420.82 312 0 -2 7.48 208 | 38 22 420.82 312 0 -2 7.48 209 | 38 22 420.82 312 0 -2 7.48 210 | 38 22 420.82 312 0 -2 7.48 211 | 38 22 420.82 312 0 -2 7.48 212 | 38 22 420.82 312 0 -2 7.48 213 | 38 22 420.82 312 0 -2 7.48 214 | 38 22 420.82 312 0 -2 7.48 215 | 38 22 420.82 312 0 -2 7.48 216 | 38 22 420.82 312 0 -2 7.48 217 | 38 22 420.82 312 0 -2 7.48 218 | 38 22 420.82 312 0 -2 7.49 219 | 38 22 420.82 312 0 -2 7.49 220 | 38 22 420.82 312 0 -2 7.49 221 | 38 22 420.82 312 0 -2 7.49 222 | 38 22 420.82 312 0 -2 7.49 223 | 38 22 420.82 312 0 -2 7.49 224 | 38 22 420.82 312 0 -2 7.49 225 | 38 22 420.82 312 0 -2 7.48 226 | 38 22 420.82 312 0 -2 7.48 227 | 38 22 420.82 312 0 -2 7.48 228 | 38 22 420.82 312 0 -2 7.48 229 | 38 22 420.82 312 0 -2 7.48 230 | 38 22 420.82 312 0 -2 7.48 231 | 38 22 420.82 312 0 -2 7.48 232 | 38 22 421.21 312 0 -2 7.48 233 | 38 22 421.21 312 0 -2 7.48 234 | 38 22 421.21 312 0 -2 7.48 235 | 38 22 421.21 312 0 -2 7.48 236 | 39 22 421.21 311 0 -2 7.48 237 | 39 22 421.21 311 0 -2 7.48 238 | 39 22 421.21 311 0 -2 7.48 239 | 39 22 421.21 311 0 -2 7.48 240 | 39 22 421.21 311 0 -2 7.48 241 | 39 22 421.21 311 0 -2 7.48 242 | 39 22 421.21 311 0 -2 7.48 243 | 39 22 421.21 311 0 -2 7.48 244 | 39 22 421.21 311 0 -2 7.48 245 | 39 22 421.21 311 0 -2 7.48 246 | 39 22 421.21 311 0 -2 7.48 247 | 39 22 421.21 311 0 -2 7.48 248 | 39 22 421.21 311 0 -2 7.48 249 | 39 22 0.00 311 0 32638 0.00 250 | 39 22 0.00 311 0 32638 0.00 251 | 39 22 0.00 311 0 32638 0.00 252 | 39 22 0.00 311 0 32638 0.00 253 | 39 22 421.21 311 0 -2 7.47 254 | 39 22 421.21 311 0 -2 7.47 255 | 39 22 421.21 311 0 -2 7.49 256 | 39 22 421.21 311 0 -2 7.49 257 | 39 22 421.21 311 0 -2 7.49 258 | 39 22 421.21 311 0 -2 7.49 259 | 39 22 421.21 311 0 -2 7.48 260 | 39 22 421.21 311 0 -2 7.48 261 | 39 22 421.21 311 0 -2 7.48 262 | 39 22 421.21 311 0 -2 7.48 263 | 0 0 0.00 0 0 0 0.00 264 | 0 0 0.00 0 0 0 0.00 265 | 0 0 0.00 0 0 0 0.00 266 | 39 22 421.21 311 0 -2 7.47 267 | 39 22 421.21 311 0 -2 7.47 268 | 39 22 421.21 311 0 -2 7.47 269 | 39 22 421.21 311 0 -2 7.47 270 | 39 22 421.21 311 0 -2 7.47 271 | 39 22 421.21 311 0 -2 7.47 272 | 39 22 421.21 311 0 -2 7.47 273 | 39 22 421.21 311 0 -2 7.47 274 | 39 22 421.21 311 0 -2 7.47 275 | 39 22 421.21 311 0 -2 7.47 276 | 39 22 421.21 311 0 -2 7.47 277 | 39 22 421.21 311 0 -2 7.47 278 | 39 22 421.21 311 0 -2 7.47 279 | 39 22 421.21 311 0 -2 7.47 280 | 39 22 421.21 311 0 -2 7.46 281 | 39 22 421.21 311 0 -2 7.46 282 | 39 22 421.21 311 0 -2 7.46 283 | 39 22 421.21 311 0 -2 7.46 284 | 39 22 421.21 311 0 -2 7.46 285 | 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312 0 -2 7.46 408 | 38 2 0.00 24 0 32638 0.00 409 | 38 2 0.00 24 0 32638 0.00 410 | 38 2 0.00 24 0 32638 0.00 411 | 38 22 421.21 312 0 -2 7.46 412 | 38 22 421.21 312 0 -2 7.46 413 | 38 22 421.21 312 0 -2 7.46 414 | 38 22 421.21 312 0 -2 7.46 415 | 38 22 421.21 312 0 -2 7.46 416 | 38 22 421.21 312 0 -2 7.46 417 | 38 22 421.21 312 0 -2 7.46 418 | 38 22 421.21 312 0 -2 7.46 419 | 38 22 421.21 312 0 -2 7.46 420 | 38 22 421.21 312 0 -2 7.46 421 | 38 22 421.21 312 0 -2 7.47 422 | 38 22 421.21 312 0 -2 7.47 423 | 38 22 421.21 312 0 -2 7.47 424 | 38 22 421.21 312 0 -2 7.47 425 | 38 22 421.21 312 0 -2 7.46 426 | 38 22 421.21 312 0 -2 7.46 427 | 38 22 421.21 312 0 -2 7.46 428 | 38 22 421.21 312 0 -2 7.46 429 | 38 22 421.21 312 0 -2 7.46 430 | 38 22 421.21 312 0 -2 7.46 431 | 38 22 421.21 312 0 -2 7.46 432 | 38 22 421.21 312 0 -2 7.46 433 | 38 22 421.21 312 0 -2 7.46 434 | 38 22 421.21 312 0 -2 7.46 435 | 38 22 421.21 312 0 -2 7.46 436 | 38 22 421.21 312 0 -2 7.46 437 | 38 22 421.21 312 0 -2 7.46 438 | 38 22 421.21 312 0 -2 7.46 439 | 38 22 421.21 312 0 -2 7.46 440 | 38 22 421.21 312 0 -2 7.46 441 | 38 22 421.21 312 0 -2 7.46 442 | 38 22 421.21 312 0 -2 7.46 443 | 38 22 421.21 312 0 -2 7.46 444 | 38 22 421.21 312 0 -2 7.46 445 | 2 2 0.00 24 0 0 0.00 446 | 2 2 0.00 24 0 0 0.00 447 | 2 2 0.00 24 0 0 0.00 448 | 2 2 0.00 24 0 0 0.00 449 | 38 22 421.21 312 0 -2 7.47 450 | 0 0 0.00 0 0 0 0.00 451 | 0 0 0.00 0 0 0 0.00 452 | 38 22 421.21 312 0 -2 7.47 453 | 38 22 421.21 312 0 -2 7.47 454 | 38 22 421.21 312 0 -2 7.47 455 | 38 22 421.21 312 0 -2 7.48 456 | 38 22 421.21 312 0 -2 7.48 457 | 38 22 421.21 312 0 -2 7.48 458 | 38 22 421.21 312 0 -2 7.48 459 | 39 22 421.21 311 0 -2 7.46 460 | 39 22 421.21 311 0 -2 7.46 461 | 39 22 421.21 311 0 -2 7.46 462 | 39 22 421.21 311 0 -2 7.46 463 | 39 22 421.21 311 0 -2 7.46 464 | 39 22 421.21 311 0 -2 7.46 465 | 39 22 421.21 311 0 -2 7.45 466 | 39 22 421.21 311 0 -2 7.45 467 | 39 22 421.21 311 0 -2 7.45 468 | 39 22 421.21 311 0 -2 7.45 469 | 39 22 421.21 311 0 -2 7.45 470 | 39 22 421.21 311 0 -2 7.45 471 | 39 22 421.21 311 0 -2 7.45 472 | 39 22 421.21 311 0 -2 7.45 473 | 39 22 421.21 311 0 -2 7.45 474 | 39 22 421.21 311 0 -2 7.45 475 | 39 22 421.21 311 0 -2 7.46 476 | 39 22 421.21 311 0 -2 7.46 477 | 39 22 421.21 311 0 -2 7.46 478 | 39 22 421.21 311 0 -2 7.46 479 | 39 22 421.21 311 0 -2 7.46 480 | 0 0 0.00 0 0 0 0.00 481 | 38 22 421.21 312 0 -2 7.46 482 | 38 22 421.21 312 0 -2 7.46 483 | 38 22 421.21 312 0 -2 7.46 484 | 38 22 421.21 312 0 -2 7.47 485 | 38 22 421.21 312 0 -2 7.47 486 | 38 22 421.21 312 0 -2 7.47 487 | 38 22 421.21 312 0 -2 7.47 488 | 38 22 421.21 312 0 -2 7.47 489 | 38 22 421.21 312 0 -2 7.47 490 | 38 22 421.21 312 0 -2 7.47 491 | 38 22 421.21 312 0 -2 7.47 492 | 38 22 421.21 312 0 -2 7.47 493 | 38 22 421.21 312 0 -2 7.48 494 | 38 22 421.21 312 0 -2 7.48 495 | 38 22 421.21 312 0 -2 7.48 496 | 38 22 421.21 312 0 -2 7.47 497 | 38 22 421.21 312 0 -2 7.47 498 | 38 22 421.21 312 0 -2 7.47 499 | 38 22 421.21 312 0 -2 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421.21 311 0 -2 7.45 531 | 39 22 421.21 311 0 -2 7.45 532 | 39 22 421.21 311 0 -2 7.45 533 | 3 2 0.00 19 0 0 0.00 534 | 3 2 0.00 19 0 0 0.00 535 | 3 2 0.00 19 0 0 0.00 536 | 39 22 421.21 311 0 -2 7.45 537 | 0 0 0.00 0 0 0 0.00 538 | 0 0 0.00 0 0 0 0.00 539 | 39 22 421.21 311 0 -2 7.46 540 | 39 22 421.21 311 0 -2 7.46 541 | 39 22 421.21 311 0 -2 7.46 542 | 39 22 421.21 311 0 -2 7.47 543 | 39 22 421.21 311 0 -2 7.47 544 | 39 22 421.21 311 0 -2 7.47 545 | 39 22 421.21 311 0 -2 7.47 546 | 39 22 421.21 311 0 -2 7.47 547 | 39 22 421.21 311 0 -2 7.47 548 | 39 22 421.21 311 0 -2 7.47 549 | 39 22 421.21 311 0 -2 7.47 550 | 39 22 421.21 311 0 -2 7.47 551 | 38 22 421.21 312 0 -2 7.47 552 | 38 22 421.21 312 0 -2 7.47 553 | 38 22 421.21 312 0 -2 7.47 554 | 38 22 421.21 312 0 -2 7.47 555 | 38 22 421.21 312 0 -2 7.47 556 | 0 0 0.00 0 0 0 0.00 557 | 0 0 0.00 0 0 0 0.00 558 | 38 22 421.21 312 0 -2 7.47 559 | 38 22 421.21 312 0 -2 7.48 560 | 38 22 421.21 312 0 -2 7.48 561 | 38 22 421.21 312 0 -2 7.48 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312 0 -2 7.47 717 | 38 22 421.21 312 0 -2 7.47 718 | 38 22 421.21 312 0 -2 7.47 719 | 38 22 421.21 312 0 -2 7.47 720 | 38 22 421.21 312 0 -2 7.47 721 | 38 22 421.21 312 0 -2 7.47 722 | 38 22 421.21 312 0 -2 7.47 723 | 38 22 421.21 312 0 -2 7.47 724 | 38 22 421.21 312 0 -2 7.47 725 | 39 22 421.21 311 0 -2 7.47 726 | 39 22 421.21 311 0 -2 7.47 727 | 39 22 421.21 311 0 -2 7.47 728 | 39 22 421.21 311 0 -2 7.47 729 | 39 22 421.21 311 0 -2 7.47 730 | 39 22 421.21 311 0 -2 7.47 731 | 39 22 421.21 311 0 -2 7.47 732 | 38 22 421.21 312 0 -2 7.47 733 | 38 22 421.21 312 0 -2 7.47 734 | 38 22 421.21 312 0 -2 7.47 735 | 38 22 421.21 312 0 -2 7.47 736 | 38 22 421.21 312 0 -2 7.47 737 | 38 22 421.21 312 0 -2 7.47 738 | 38 22 421.21 312 0 -2 7.47 739 | 39 22 421.21 311 0 -2 7.47 740 | 39 22 421.21 311 0 -2 7.47 741 | 39 22 421.21 311 0 -2 7.47 742 | 0 0 0.00 0 0 -2 7.47 743 | 0 0 0.00 0 0 -2 7.47 744 | 0 0 0.00 0 0 -2 7.47 745 | 39 22 421.21 311 0 -2 7.47 746 | 39 22 421.21 311 0 -2 7.47 747 | 39 22 421.21 311 0 -2 7.47 748 | 39 22 421.21 311 0 -2 7.47 749 | 39 22 421.21 311 0 -2 7.47 750 | 39 22 421.21 311 0 -2 7.47 751 | 39 22 421.21 311 0 -2 7.47 752 | 39 22 421.21 311 0 -2 7.48 753 | 39 22 421.21 311 0 -2 7.48 754 | 39 22 421.21 311 0 -2 7.48 755 | 39 22 421.21 311 0 -2 7.48 756 | 39 22 421.21 311 0 -2 7.48 757 | 39 22 421.21 311 0 -2 7.48 758 | 39 22 421.21 311 0 -2 7.48 759 | 39 22 421.21 311 0 -2 7.48 760 | 39 22 421.21 311 0 -2 7.48 761 | 39 22 421.21 311 0 -2 7.50 762 | 39 22 421.21 311 0 -2 7.50 763 | 39 22 421.21 311 0 -2 7.49 764 | 39 22 421.21 311 0 -2 7.49 765 | 39 22 421.21 311 0 -2 7.49 766 | 39 22 421.21 311 0 -2 7.49 767 | 39 22 421.21 311 0 -2 7.49 768 | 39 22 421.21 311 0 -2 7.49 769 | 39 22 421.21 311 0 -2 7.49 770 | 39 22 421.21 311 0 -2 7.49 771 | 39 22 421.21 311 0 -2 7.49 772 | 39 22 421.21 311 0 -2 7.49 773 | 39 22 421.21 311 0 -2 7.49 774 | 39 22 421.21 311 0 -2 7.49 775 | 39 22 421.21 311 0 -2 7.49 776 | 39 22 421.21 311 0 -2 7.49 777 | 39 22 421.21 311 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421.21 311 0 -2 7.49 809 | 39 22 421.21 311 0 -2 7.48 810 | 39 22 421.21 311 0 -2 7.48 811 | 39 22 421.21 311 0 -2 7.48 812 | -------------------------------------------------------------------------------- /cockpit/logs/lkjkljskldjasda.txt: -------------------------------------------------------------------------------- 1 | Theta Angle Distance Heading Roll Pitch Voltage 2 | 0 0 0.00 0 0 0 0.00 3 | 36 22 423.54 317 0 -3 7.52 4 | 36 22 423.54 317 0 -3 7.52 5 | 36 22 423.54 317 0 -3 7.52 6 | 36 22 423.54 317 0 -3 7.52 7 | 36 22 423.54 317 0 -3 7.52 8 | 36 22 423.54 317 0 -3 7.52 9 | 36 22 423.54 317 0 -3 7.52 10 | 36 22 423.54 317 0 -3 7.52 11 | 36 22 423.54 317 0 -3 7.52 12 | 36 22 423.54 317 0 -3 7.52 13 | 36 22 423.54 317 0 -3 7.52 14 | 36 22 423.54 317 0 -3 7.52 15 | 36 22 423.54 317 0 -3 7.52 16 | 36 22 423.54 317 0 -3 7.52 17 | 36 22 423.54 317 0 -3 7.52 18 | 36 22 423.54 317 0 -3 7.52 19 | 36 22 423.54 317 0 -3 7.52 20 | 36 22 423.54 317 0 -3 7.52 21 | 36 22 423.54 317 0 -3 7.52 22 | 35 22 423.54 318 0 -3 7.52 23 | 35 22 423.54 318 0 -3 7.52 24 | 35 22 423.54 318 0 -3 7.52 25 | 35 22 423.54 318 0 -3 7.52 26 | 0 0 0.00 0 0 -132 7.53 27 | 0 0 0.00 0 0 -132 7.53 28 | 0 0 0.00 0 0 -132 7.53 29 | 36 22 423.54 317 0 -3 7.52 30 | 36 22 423.54 317 0 -3 7.52 31 | 36 22 423.54 317 0 -3 7.52 32 | 36 22 423.54 317 0 -3 7.52 33 | 36 22 423.54 317 0 -3 7.53 34 | 36 22 423.54 317 0 -3 7.53 35 | 36 22 423.54 317 0 -3 7.53 36 | 35 22 423.54 318 0 -3 7.53 37 | 35 22 423.54 318 0 -3 7.53 38 | 35 22 423.54 318 0 -3 7.53 39 | 35 22 423.54 318 0 -3 7.53 40 | 36 22 423.54 317 0 -3 7.53 41 | 36 22 423.54 317 0 -3 7.53 42 | 36 22 423.54 317 0 -3 7.53 43 | 36 22 423.54 317 0 -3 7.54 44 | 36 22 423.54 317 0 -3 7.54 45 | 36 22 423.54 317 0 -3 7.54 46 | 36 22 423.54 317 0 -3 7.55 47 | 36 22 423.54 317 0 -3 7.55 48 | 36 22 423.54 317 0 -3 7.55 49 | 36 22 423.54 317 0 -3 7.55 50 | 36 22 423.54 317 0 -3 7.55 51 | 36 22 423.54 317 0 -3 7.55 52 | 35 22 423.54 318 0 -3 7.55 53 | 36 22 423.54 317 0 -3 7.54 54 | 36 22 423.54 317 0 -3 7.54 55 | 36 22 423.54 317 0 -3 7.54 56 | 36 22 423.54 317 0 -3 7.53 57 | 36 22 423.54 317 0 -3 7.53 58 | 36 22 423.54 317 0 -3 7.53 59 | 36 22 423.54 317 0 -3 7.53 60 | 36 22 423.54 317 0 -3 7.53 61 | 36 22 423.54 317 0 -3 7.53 62 | 35 22 423.54 318 0 -3 7.54 63 | 35 22 423.54 318 0 -3 7.54 64 | 35 22 423.54 318 0 -3 7.54 65 | 35 22 0.00 318 0 -132 0.00 66 | 35 22 0.00 318 0 -132 0.00 67 | 35 22 423.54 318 0 -3 7.53 68 | 35 22 423.54 318 0 -3 7.53 69 | 35 22 423.54 318 0 -3 7.53 70 | 35 22 423.54 318 0 -3 7.53 71 | 35 22 423.54 318 0 -3 7.53 72 | 35 22 423.54 318 0 -3 7.53 73 | 35 22 423.54 318 0 -3 7.53 74 | 35 22 423.54 318 0 -3 7.53 75 | 35 22 423.54 318 0 -3 7.53 76 | 35 22 423.54 318 0 -3 7.53 77 | 35 22 423.54 318 0 -3 7.53 78 | 35 22 423.54 318 0 -3 7.52 79 | 35 22 423.54 318 0 -3 7.52 80 | 35 22 423.54 318 0 -3 7.52 81 | 35 22 423.54 318 0 -3 7.52 82 | 35 22 423.54 318 0 -3 7.52 83 | 35 22 423.54 318 0 -3 7.52 84 | 35 22 423.54 318 0 -3 7.52 85 | 35 22 423.54 318 0 -3 7.53 86 | 0 0 0.00 0 0 0 0.00 87 | 0 0 0.00 0 0 0 0.00 88 | 35 22 423.54 318 0 -3 7.53 89 | 35 22 423.54 318 0 -3 7.53 90 | 35 22 423.54 318 0 -3 7.53 91 | 35 22 423.54 318 0 -3 7.53 92 | 35 22 423.54 318 0 -3 7.52 93 | 35 22 423.54 318 0 -3 7.52 94 | 35 22 423.54 318 0 -3 7.52 95 | 35 22 423.54 318 0 -3 7.52 96 | 35 22 423.54 318 0 -3 7.52 97 | 35 22 423.54 318 0 -3 7.52 98 | 35 22 423.54 318 0 -3 7.52 99 | 36 22 423.54 317 0 -3 7.52 100 | 36 22 423.54 317 0 -3 7.52 101 | 36 22 423.54 317 0 -3 7.52 102 | 35 22 423.54 318 0 -3 7.52 103 | 35 22 423.54 318 0 -3 7.52 104 | 63 22 423.40 268 0 -3 7.62 105 | 63 22 423.40 268 0 -3 7.62 106 | 63 22 423.40 267 0 -3 7.60 107 | 63 22 423.40 267 0 -3 7.60 108 | 63 22 423.40 267 0 -3 7.60 109 | 63 22 423.40 267 0 -3 7.60 110 | 63 22 423.14 267 0 -3 7.58 111 | 0 0 0.00 0 0 0 0.00 112 | 0 0 0.00 0 0 0 0.00 113 | 63 22 423.14 267 0 -3 7.57 114 | 63 22 423.14 267 0 -3 7.57 115 | 0 0 0.00 0 0 0 0.00 116 | 0 0 0.00 0 0 0 0.00 117 | 63 22 423.14 267 0 -3 7.56 118 | 63 22 423.14 267 0 -3 7.56 119 | 63 22 423.14 267 0 -3 7.56 120 | 0 0 0.00 1 0 -3 7.54 121 | 0 0 0.00 1 0 -3 7.54 122 | 0 0 0.00 1 0 -3 7.54 123 | 0 0 0.00 1 0 -3 7.54 124 | 63 22 423.14 267 0 -3 7.54 125 | 63 22 423.14 267 0 -3 7.54 126 | 63 22 423.14 267 0 -3 7.54 127 | 63 22 423.14 267 0 -3 7.53 128 | 63 22 423.14 267 0 -3 7.53 129 | 63 22 423.14 267 0 -3 7.53 130 | 63 22 423.14 267 0 -3 7.53 131 | 63 22 423.14 267 0 -3 7.52 132 | 63 22 423.14 267 0 -3 7.52 133 | 63 22 423.14 267 0 -3 7.52 134 | 63 22 0.00 267 -1 -4 0.00 135 | 63 22 0.00 267 -1 -4 0.00 136 | 63 22 0.00 267 -1 -4 0.00 137 | 63 22 423.14 267 -1 -3 7.52 138 | 63 22 423.14 267 -1 -3 7.50 139 | 63 22 423.14 267 -1 -3 7.50 140 | 63 22 423.14 267 -1 -3 7.50 141 | 63 22 423.14 267 -1 -3 7.50 142 | 63 22 423.14 267 -1 -3 7.49 143 | 63 22 423.14 267 -1 -3 7.49 144 | 63 22 423.14 267 -1 -3 7.49 145 | 63 22 423.14 267 -1 -3 7.47 146 | 63 22 423.14 267 -1 -3 7.47 147 | 63 22 423.14 267 -1 -3 7.47 148 | 63 22 423.14 267 -1 -3 7.47 149 | 63 22 423.14 268 -1 -3 7.46 150 | 63 22 423.14 268 -1 -3 7.46 151 | 63 22 423.14 268 -1 -3 7.46 152 | 62 22 423.14 269 -1 -3 7.44 153 | 62 22 423.14 269 -1 -3 7.44 154 | 0 22 423.14 23 -2 0 7.23 155 | 0 22 423.14 23 -2 0 7.23 156 | -1 22 423.14 24 -2 0 7.26 157 | -1 22 423.14 24 -2 0 7.26 158 | -1 22 423.14 24 -2 0 7.26 159 | -1 22 423.14 25 -2 0 7.30 160 | 0 0 0.00 0 0 0 0.00 161 | 0 0 0.00 0 0 0 0.00 162 | 0 0 0.00 0 0 0 0.00 163 | -1 22 423.14 25 -2 0 7.32 164 | -1 22 423.14 25 -2 0 7.32 165 | -1 22 423.14 25 -2 0 7.32 166 | -2 22 423.14 26 -2 0 7.32 167 | -2 22 423.14 26 -2 0 7.32 168 | -2 22 423.14 26 -2 0 7.32 169 | -2 22 423.14 26 -2 0 7.32 170 | -2 22 423.14 26 -2 0 7.34 171 | -2 22 423.14 26 -2 0 7.34 172 | -2 22 423.14 26 -2 0 7.34 173 | -2 22 423.14 27 -2 0 7.37 174 | -2 22 423.14 27 -2 0 7.37 175 | -2 22 423.14 27 -2 0 7.37 176 | -2 22 423.14 27 -2 0 7.37 177 | -3 22 423.14 28 -2 0 7.38 178 | -3 22 423.14 28 -2 0 7.38 179 | 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22 423.54 46 -1 1 7.57 211 | -12 22 423.54 45 -1 1 7.56 212 | -12 22 423.54 45 -1 1 7.56 213 | -12 22 423.54 45 -1 1 7.56 214 | -12 22 423.54 45 -1 1 7.55 215 | -12 22 423.54 45 -1 1 7.55 216 | -12 22 423.54 45 -1 1 7.55 217 | -12 22 423.54 45 -1 1 7.55 218 | -12 22 423.54 45 -1 1 7.55 219 | -12 22 423.54 45 -1 1 7.55 220 | -12 22 423.54 45 -1 1 7.55 221 | -12 22 423.54 45 -1 1 7.53 222 | -12 22 423.54 45 -1 1 7.53 223 | -12 22 423.54 45 -1 1 7.53 224 | -12 22 423.54 45 -1 1 7.53 225 | -12 22 423.54 45 -1 1 7.53 226 | -12 22 423.54 45 -1 1 7.53 227 | -12 22 423.54 45 -1 1 7.53 228 | -12 22 423.54 45 -1 2 7.51 229 | -12 22 423.54 45 -1 2 7.51 230 | -12 22 423.54 45 -1 2 7.51 231 | -13 22 423.54 46 -1 2 7.51 232 | -13 22 423.54 46 -1 2 7.51 233 | -13 22 423.54 46 -1 2 7.51 234 | -13 22 423.54 46 -1 2 7.51 235 | -14 22 423.54 48 -1 2 7.51 236 | -14 22 423.54 48 -1 2 7.51 237 | -14 22 423.54 48 -1 2 7.51 238 | -15 22 423.54 49 -1 2 7.52 239 | -15 22 423.54 49 -1 2 7.52 240 | -15 22 423.54 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| -2 22 423.54 27 -1 4 7.29 272 | -2 22 423.54 27 -1 4 7.29 273 | 0 22 423.54 22 0 4 7.28 274 | 0 22 423.54 22 0 4 7.28 275 | 0 22 423.54 22 0 4 7.28 276 | 2 22 423.54 18 0 4 7.28 277 | 2 22 423.54 18 0 4 7.28 278 | 2 22 423.54 18 0 4 7.28 279 | 3 22 423.54 15 0 4 7.28 280 | 3 22 423.54 15 0 4 7.28 281 | 3 22 423.54 15 0 4 7.28 282 | 6 22 423.54 10 0 4 7.28 283 | 6 22 423.54 10 0 4 7.28 284 | 6 22 423.54 10 0 4 7.28 285 | 9 22 423.54 5 0 4 7.28 286 | 9 22 423.54 5 0 4 7.28 287 | 9 22 423.54 5 0 4 7.28 288 | 1 2 423.50 0 0 4 7.28 289 | 1 2 423.50 0 0 4 7.28 290 | 1 2 423.50 0 0 4 7.28 291 | 13 22 423.54 357 0 4 7.29 292 | 13 22 423.54 357 0 4 7.29 293 | 13 22 423.54 357 0 4 7.29 294 | 13 22 423.54 357 0 4 7.29 295 | 16 22 423.54 352 0 4 7.31 296 | 16 22 423.54 352 0 4 7.31 297 | 16 22 423.54 352 0 4 7.31 298 | 19 22 423.28 347 0 4 7.34 299 | 19 22 423.28 347 0 4 7.34 300 | 19 22 423.28 347 0 4 7.34 301 | 19 22 423.28 347 0 4 7.34 302 | 21 22 423.28 343 0 4 7.36 303 | 21 22 423.28 343 0 4 7.36 304 | 21 22 423.28 343 0 4 7.36 305 | 23 22 423.28 340 0 4 7.36 306 | 42 22 423.28 306 0 2 7.85 307 | 42 22 423.28 306 0 2 7.85 308 | 42 22 423.28 306 0 2 7.85 309 | 41 22 423.28 307 0 2 7.85 310 | 41 22 423.28 307 0 2 7.85 311 | 41 22 423.28 307 0 2 7.85 312 | 41 22 423.28 308 0 2 7.83 313 | 41 22 423.28 308 0 2 7.83 314 | 41 22 423.28 308 0 2 7.83 315 | 41 22 423.28 308 0 2 7.83 316 | 40 22 423.28 309 0 2 7.81 317 | 0 0 0.00 0 0 0 0.00 318 | 0 0 0.00 0 0 0 0.00 319 | 38 22 423.28 312 0 2 7.81 320 | 38 22 423.28 312 0 2 7.81 321 | 38 22 423.28 312 0 2 7.81 322 | 38 22 423.28 312 0 2 7.81 323 | 37 22 423.28 314 0 2 7.78 324 | 37 22 423.28 314 0 2 7.78 325 | 37 22 423.28 314 0 2 7.78 326 | 36 22 423.28 317 0 2 7.74 327 | 36 22 423.28 317 0 2 7.74 328 | 36 22 423.28 317 0 2 7.74 329 | 36 22 423.28 317 0 2 7.74 330 | 33 22 423.28 321 0 2 7.70 331 | 33 22 423.28 321 0 2 7.70 332 | 33 22 423.28 321 0 2 7.70 333 | 31 22 423.28 325 0 2 7.67 334 | 31 22 423.28 325 0 2 7.67 335 | 31 22 423.28 325 0 2 7.67 336 | 29 22 423.28 329 0 2 7.63 337 | 29 22 423.28 329 0 2 7.63 338 | 29 22 423.28 329 0 2 7.63 339 | 29 22 423.28 329 0 2 7.63 340 | 27 22 423.28 332 0 2 7.58 341 | 27 22 423.28 332 0 2 7.58 342 | 27 22 423.28 332 0 2 7.58 343 | 25 22 423.28 336 0 2 7.55 344 | 25 22 423.28 336 0 2 7.55 345 | 25 22 423.28 336 0 2 7.55 346 | 25 22 423.28 336 0 2 7.55 347 | 23 22 423.28 340 0 2 7.52 348 | 23 22 423.28 340 0 2 7.52 349 | 23 22 423.28 340 0 2 7.52 350 | 21 22 423.28 344 0 2 7.50 351 | 21 22 423.28 344 0 2 7.50 352 | 21 22 423.28 344 0 2 7.50 353 | 21 22 423.28 344 0 2 7.50 354 | 18 22 423.28 348 0 2 7.47 355 | 18 22 423.28 348 0 2 7.47 356 | 18 22 423.28 348 0 2 7.47 357 | 2 22 423.28 18 0 1 7.48 358 | 2 22 423.28 18 0 1 7.48 359 | 0 2 423.01 1 0 1 7.49 360 | 0 2 423.01 1 0 1 7.49 361 | 0 2 423.01 1 0 1 7.49 362 | 0 2 423.01 1 0 1 7.49 363 | 1 22 423.28 19 0 1 7.50 364 | 1 22 423.28 19 0 1 7.50 365 | 1 22 423.28 19 0 1 7.50 366 | 1 22 423.28 20 0 1 7.51 367 | 1 22 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