gistfile1.ino

//GPS--------------------------------------
//-----------------------------------------
//Data Sheeet
// http://www.adafruit.com/datasheets/PMTK_A08.pdf

//libraries
#include <Adafruit_GPS.h>
#include <SoftwareSerial.h>

//declarations
SoftwareSerial mySerial(7, 6); //pins to use for GPS
Adafruit_GPS GPS(&mySerial); //?

//constants
#define GPSECHO  true
#define PMTK_SET_NMEA_UPDATE_10HZ "$PMTK220,100*2C" //String required for 10Hz //This is the one I am using at the moment
#define PMTK_SET_NMEA_UPDATE_5HZ "$PMTK220,200*2C" //String required for 5Hz //
boolean usingInterrupt = false;
void useInterrupt(boolean);
float velocity;
//-----------------------------------------

//Encoder----------------------------------
//-----------------------------------------

//libraries

//declarations

//constants
enum PinAssignments {
  encoderPinA = 2,
  encoderPinB = 3,
};

volatile unsigned int encoderPos = 60;  // a counter for the dial
unsigned int lastReportedPos = 1;   // change management
static boolean rotating=false;      // debounce management

// interrupt service routine vars
boolean A_set = false;              
boolean B_set = false;
//-----------------------------------------

//LED Display------------------------------
//-----------------------------------------

//libraries
#include <Wire.h>
#include "Adafruit_LEDBackpack.h"
#include "Adafruit_GFX.h"

//declarations
Adafruit_7segment matrix = Adafruit_7segment();

//constants

//-----------------------------------------

//Servo------------------------------------
//-----------------------------------------

//libraries
#include <Servo.h> 

//declarations
Servo servo;

//constants
int servo_angle_max = 38;
int servo_angle_min = 93;
int servo_angle = 64; 

//-----------------------------------------

void setup(){  
  //GPS--------------------------------------
  //-----------------------------------------    
  GPS.begin(9600);  
  GPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
  GPS.sendCommand(PMTK_SET_NMEA_UPDATE_5HZ);   // 1 Hz update rate
  //? comment out------??????
  // Request updates on antenna status, comment out to keep quiet
  GPS.sendCommand(PGCMD_ANTENNA);
  //---------???
  useInterrupt(true);
  delay(1000);
  //-----------------------------------------    
  
  //Encoder----------------------------------
  //-----------------------------------------
  pinMode(encoderPinA, INPUT); 
  pinMode(encoderPinB, INPUT); 
  // turn on pullup resistors
  digitalWrite(encoderPinA, HIGH);
  digitalWrite(encoderPinB, HIGH);

  // encoder pin on interrupt 0 (pin 2)
  attachInterrupt(0, doEncoderA, CHANGE);
  // encoder pin on interrupt 1 (pin 3)
  attachInterrupt(1, doEncoderB, CHANGE);
  //-----------------------------------------
  
  //LED Display------------------------------
  //-----------------------------------------
  matrix.begin(0x70);
  //-----------------------------------------
  
  //Servo------------------------------------
  //-----------------------------------------
  servo.attach(10);
  //servo.write(servo_angle);
  //-----------------------------------------
  
  Serial.begin(9600);
  
}

//Stuff for GPS------------------------------
//-------------------------------------------
// Interrupt is called once a millisecond, looks for any new GPS data, and stores it
SIGNAL(TIMER0_COMPA_vect) {
  char c = GPS.read();
  // if you want to debug, this is a good time to do it!
#ifdef UDR0
  if (GPSECHO)
    if (c) UDR0 = c;  
    // writing direct to UDR0 is much much faster than Serial.print 
    // but only one character can be written at a time. 
#endif
}

void useInterrupt(boolean v) {
  if (v) {
    // Timer0 is already used for millis() - we'll just interrupt somewhere
    // in the middle and call the "Compare A" function above
    OCR0A = 0xAF;
    TIMSK0 |= _BV(OCIE0A);
    usingInterrupt = true;
  } else {
    // do not call the interrupt function COMPA anymore
    TIMSK0 &= ~_BV(OCIE0A);
    usingInterrupt = false;
  }
}
//-------------------------------------------

void loop(){
  //Encoder----------------------------------
  //-----------------------------------------
  rotating = true;  // reset the debouncer
  
  //will if want to display on LED display
  if (lastReportedPos != encoderPos) {
//    //Comment out depending on if need to see GPS speed or desired speed
//    
////    matrix.writeDigitNum(1, (encoderPos/100), false);
////    matrix.writeDigitNum(3, (encoderPos/10) % 10, true);
////    matrix.writeDigitNum(4, encoderPos % 10, false);
////    matrix.writeDisplay();
//
//    //-------------------------------------------------------------------
    lastReportedPos = encoderPos;
  }
  //-----------------------------------------  
  
  //GPS--------------------------------------
  //-----------------------------------------
  // in case you are not using the interrupt above, you'll
  // need to 'hand query' the GPS, not suggested :(
  if (! usingInterrupt) {
    // read data from the GPS in the 'main loop'
    char c = GPS.read();
    // if you want to debug, this is a good time to do it!
    if (GPSECHO)
      if (c) Serial.print(c);
  }
  
  // if a sentence is received, we can check the checksum, parse it...
  if (GPS.newNMEAreceived()) {
    // a tricky thing here is if we print the NMEA sentence, or data
    // we end up not listening and catching other sentences! 
    // so be very wary if using OUTPUT_ALLDATA and trytng to print out data
    //Serial.println(GPS.lastNMEA());   // this also sets the newNMEAreceived() flag to false
  
    if (!GPS.parse(GPS.lastNMEA()))   // this also sets the newNMEAreceived() flag to false
      return;  // we can fail to parse a sentence in which case we should just wait for another
  }
  
  if (GPS.fix){
    velocity = GPS.speed*1.15077945; //[mph] convert from knot to mph
    matrix.print(velocity);
    matrix.writeDisplay();
    s
    if ((int)(velocity*10)<(encoderPos-60)){
     servo.write(servo_angle_min);
    }
    else if((int)(velocity*10)>(encoderPos+60)){
     servo.write(servo_angle_max); 
    }
    else{
     servo_angle = map( (int)(velocity*10), encoderPos-60, encoderPos+60, servo_angle_max, servo_angle_min); //min and max are swapped because the max is actually the smaller angle and vice versa  
     servo.write(servo_angle);
    }
  }
  //-----------------------------------------
  
  //Servo------------------------------------
  //-----------------------------------------

  //-----------------------------------------
  Serial.println(servo_angle);
  
}


//Interupts for Encoder----------------------
//-------------------------------------------

// Interrupt on A changing state
void doEncoderA(){
  // debounce
  if ( rotating ) delay (1);  // wait a little until the bouncing is done

  // Test transition, did things really change? 
  if( digitalRead(encoderPinA) != A_set ) {  // debounce once more
    A_set = !A_set;

    // adjust counter + if A leads B
    if ( (A_set && !B_set) && encoderPos < 120.0 ) 
      encoderPos += 1;

    rotating = false;  // no more debouncing until loop() hits again
  }
}

// Interrupt on B changing state, same as A above
void doEncoderB(){
  if ( rotating ) delay (1);
  if( digitalRead(encoderPinB) != B_set ) {
    B_set = !B_set;
    //  adjust counter - 1 if B leads A
    if( (B_set && !A_set) && encoderPos > 0 ) 
      encoderPos -= 1;

    rotating = false;
  }
}
//--------------------------------------------------