update: arduino code

droneCode/lidar_setup/lidar_setup.ino

@@ -4,54 +4,55 @@
 
 #include <TinyGPS++.h>
 #include <SoftwareSerial.h>
-// #include <TimerOne.h>
 #include <Wire.h>
 #include <LIDARLite.h>
 #include <SD.h>
+#include <SPI.h>
 
 LIDARLite myLidarLite;  // LiDar object
 TinyGPSPlus gps;        // GPS object
 SoftwareSerial ss(RXPin, TXPin); // serial connection to GPS device
 
+// structrue of each measurement in waterbody
 struct WaterBody {
+  int measurementID;
   const char* name;
   float latitude;
   float longitude;
 };
 
-// if new coordinates or body of water is added then add it here
+// NB: if new coordinates or body of water is added then add it here
 // define an array of waterbody structures
 WaterBody waterCoords = {
-  {"mjosa",60.000000,10.000000},
-  {"mjosa",60.000000,10.000000},
-  {"mjosa",60.000000,10.000000},
-  {"mjosa",60.000000,10.000000},
+  {"mjosa",60.000000,12.000000, 1},
+  {"mjosa",65.000000,11.000000, 2},
+  {"mjosa",59.000000,12.000000, 3},
+  {"mjosa",63.000000,13.000000, 4},
 };
 
-// #define DIR_PIN 2
-// #define STEP_PIN 3
+#define CHIP_SELECT_PIN 10 \\ Pin connected to the CS pin of SD card moudle
+#define MAX_READING 1000 \\ Maximum number of LIDAR readings to store
+#define RXPIN 2
+#define TXPIN 3
 
-static const int RXPin = 4, TXPin = 3;
 static const uint32_t GPSBaoud = 9600; // baud rate
 const float maxRadius = 5; // max distance from location to gps coordinates 
 
-
-// volatile int stepCount = 0;
-// volatile int roundCount = 0;
- 
 void setup() {
     Serial.begin(GPSBaud); // Initialize serial connection to display distances readings
+    pinMode(CHIP_SELECT_PIN, OUTPUT);
+
+    if (!SD.begin(CHIP_SELECT_PIN)){
+      Serial.println("SD card initialization failed");
+      return;
+    }
+    
+    Serial.println("SD card initialized");
+
     myLidarLite.begin(0, true); // Start sensor and I2C
     myLidarLite.configure(0); // set to default mode, balanced performance
     ss.begin(GPSBaud); // Start GPS tracking
- 
-    // pinMode(DIR_PIN, OUTPUT);
-    // pinMode(STEP_PIN, OUTPUT);
- 
-    // digitalWrite(DIR_PIN, HIGH);
- 
-    // Timer1.initialize();
-    // Timer1.attachInterrupt(tick, 1000000.0f / (3200 * 1));
+
 }
 
 // extra: Reciever bias correction is performed 1 out of every 100 readings
@@ -60,15 +61,36 @@ void loop() {
   while (ss.available() > 0){
     gps.encode(ss.read());
     if (gps.location.isUpdated()){ 
-      for (int i = 0; i< waterCoors.size(); i++){
+      for (int i = 0; i< sizeof(waterCoords)/sizeof(waterCoords[0]); i++){
         // scan after lidar reached designated location
-        if withinRadius(gps.location.lat, gps.location.lng, waterCoordinates[i][1], waterCoordinates[i][2], maxRadius) {
-          // Take a measurement with receiver bias correction and print to serial terminal
-          receive(true);
-        
-          // Take 99 measurement without receiver bias correction and print to serial terminal
-          for(int i = 0; i < 99; i++){
-            receive(false);
+        if withinRadius(gps.location.lat, gps.location.lng, waterCoords[i].latitude, waterCoords[i].longitude, maxRadius) {
+          String filename = String(waterCoords[i].name) + "_ID_" + String(waterCoords[i].measurementID) + ".txt";
+          
+          if (SD.exist(filename)){
+            SD.remove(filename);
+            Serial.println("File deleted:" + filename);
+          }
+
+          // Create a new file on the SD card
+          File dataFile = SD.open(filename, FILE_WRITE);
+
+          if (!dataFile){
+            Serial.println("SD card initialized");
+          
+            // Take 99 measurement without receiver bias correction and print to file
+            for(int i = 0; i < 10; i++){
+              // convert it to (XYZ) format
+              sprintf(coordinate,"%d %d %d\n\0",(int)(0,0,myLidarLite.distance(false));
+              datafile.println(coordinate);
+            }
+
+            dataFile.close();
+            // Convert and send them
+            Serial.print(s);
+            Serial.println("File created.", filename);
+          }
+          else{
+            Serial.println("Error opening file for writing: ", filename);
           }
         }
       }
@@ -87,18 +109,4 @@ void receive(bool bias)
 bool withinRadius(float x1,float y1,float x2,float y2, float radius){
   float distance = sqrt(pow((x1-x2),2)+pow((y1-y2),2));
   return (distance <= radius);
-}
- 
-// void tick()
-// {
-//     digitalWrite(STEP_PIN, HIGH);
-//     //delay(1);
-//     digitalWrite(STEP_PIN, LOW);
- 
-//     stepCount++;
-//     if(stepCount >= 3200)
-//     {
-//         stepCount = 0;
-//         roundCount++;
-//     }
-// }
\ No newline at end of file
+}
\ No newline at end of file