LoRaGPSandMotor

#include <TinyGPSPlus.h>
#include <SoftwareSerial.h>
/*
   This sample sketch demonstrates the normal use of a TinyGPSPlus (TinyGPSPlus) object.
   It requires the use of SoftwareSerial, and assumes that you have a
   4800-baud serial GPS device hooked up on pins 4(rx) and 3(tx).
*/
static const int RXPin = 32, TXPin = 33;
static const uint32_t GPSBaud = 9600;

// The TinyGPSPlus object
TinyGPSPlus gps;

// The serial connection to the GPS device
SoftwareSerial ss(RXPin, TXPin);

#include "heltec.h"
#define BAND    915E6

//NEW CODE BEGIN

#define outputA 3
#define outputB 4
#define pulsesPerRot 20

unsigned long lastMillis = 0;
unsigned long lastMillis2 = 0;
int aState;
int aLastState;
int rot = 0;
int depth = 0;
int counter = 0;
int counter2 = 0;
bool measure = false;
float tds;
float temp;
float ph;
float data[3];
String sensorDATA;

//NEW CODE END
            
int startTime = millis();
//String message;

String zero = "0";

void setup()
{

  pinMode(8, OUTPUT);
  pinMode(9, OUTPUT);
  pinMode (outputA, INPUT);
  pinMode (outputB, INPUT);
  
  Heltec.begin(true /*DisplayEnable Enable*/, true /*Heltec.LoRa Disable*/, false /*Serial Enable*/, true /*PABOOST Enable*/, BAND /*long BAND*/);

  Serial.begin(115200);
  while(!Serial);
  ss.begin(GPSBaud);
  while(!ss);
  aLastState = digitalRead(outputA);

  Serial.println(F("DeviceExample.ino"));
  Serial.println(F("A simple demonstration of TinyGPSPlus with an attached GPS module"));
  Serial.print(F("Testing TinyGPSPlus library v. ")); Serial.println(TinyGPSPlus::libraryVersion());
  Serial.println(F("by Mikal Hart"));
  Serial.println();
}

void loop()
{
  // This sketch displays information every time a new sentence is correctly encoded.
  while (ss.available() > 0)
    if (gps.encode(ss.read()))
      displayInfo();

//  if(millis()-startTime>1000){
//    startTime = millis();
//    sendLora();
//  }

  rot = 0;
  counter = 0;
  counter2 = 0;
  depth = rot * 20;

  // grid entire area
  float x[] = {32.9145309, 32.91516140, 32.91585490, 32.91639530, 32.91711580, 32.91789030, 32.91784530, 32.91721490, 32.91646730, 32.91587290, 32.91525150, 32.91453990, 32.91441380, 32.91526950, 32.91608910, 32.91601700, 32.91535950, 32.91439580};
  float y[] = {-117.0998704, -117.09994550, -117.10013870, -117.10025670, -117.10036400, -117.10039620, -117.10085750, -117.10085750, -117.10077170, -117.10070730, -117.10063220, -117.10053560, -117.10110430, -117.10124370, -117.10135100, -117.10198400, -117.10183380};

  // low water level pts
//  float x[] = {32.9147482, 32.91558470, 32.91646280, 32.91686810, 32.91719010, 32.91740630, 32.91759540, 32.91783410, 32.91786110, 32.91765170, 32.91743550, 32.91721490, 32.91689290, 32.91664070, 32.91638850, 32.91636830, 32.91605080, 32.91604180, 32.91569500, 32.91569730, 32.91536180, 32.91536400, 32.91489790, 32.91491600, 32.91446790, 32.91443860, 32.91397480, 32.91397030};
//  float y[] = {-117.0999536, -117.10010650, -117.10026200, -117.10054100, -117.10052490, -117.10051420, -117.10049270, -117.10045780, -117.10068320, -117.10073680, -117.10078780, -117.10084140, -117.10089240, -117.10086550, -117.10118470, -117.10080650, -117.10078780, -117.10119810, -117.10121960, -117.10077170, -117.10073140, -117.10120350, -117.10123300, -117.10067510, -117.10062150, -117.10123570, -117.10121690, -117.10059200};


  for(int i = 0; i<sizeof(x)/sizeof(x[i]); i++){
    if ((abs(gps.location.lat()-x[i])<0.0002) && (abs(gps.location.lng()- y[i])<0.0002)){
      // stop boat & collect data
      delay(1000);
      while (rot < 10) {
        if (millis() - lastMillis > 0) {
          lastMillis = millis();
          aState = digitalRead(outputA);
          digitalWrite(9, HIGH);
          digitalWrite(8, LOW);
          if (aState != aLastState) {
            counter++;
            if (counter % 40 == 0) {
              rot++;
            }
          }
          aLastState = aState;
        }
       }
      digitalWrite(9, LOW); 

    //insert delay
  
    while (rot < 20) {
      if (millis() - lastMillis > 0) {
        lastMillis = millis();
        aState = digitalRead(outputA);
        digitalWrite(9, HIGH);
        digitalWrite(8, LOW);
        if (aState != aLastState) {
          counter++;
          if (counter % 40 == 0) {
            rot++;
            Serial.print("Rotation ");
            Serial.println(rot);
          }
        }
        aLastState = aState;
      }
    }
    digitalWrite(9,LOW);
  
    //insert delay
  
  
    while (rot < 30) {
      if (millis() - lastMillis > 0) {
        lastMillis = millis();
        aState = digitalRead(outputA);
        digitalWrite(9, HIGH);
        digitalWrite(8, LOW);
        if (aState != aLastState) {
          counter++;
          if (counter % 40 == 0) {
            rot++;
            Serial.print("Rotation ");
            Serial.println(rot);
          }
        }
        aLastState = aState;
      }
    }
    digitalWrite(9,LOW);
  
    //insert delay
  
    rot = 0;
    aState = digitalRead(outputA);
    int change = 0;
    lastMillis2 = millis();
  
    while (rot < 29 || change > 4) {
      lastMillis = millis();
      digitalWrite(9, HIGH);
      digitalWrite(8, LOW);
      if (millis() - lastMillis >= 0) {
        lastMillis = millis();
        aState = digitalRead(outputA);
        if (aState != aLastState) {
          aLastState = digitalRead(outputA);
          counter++;
          if (counter % 40 == 0) {
            rot++;
          }
        }
        if (millis() - lastMillis2 > 170) {
          lastMillis2 = millis();
          change = counter - counter2;
          counter2 = counter;
        }
      }
    }
    digitalWrite(8,LOW);

      
    }
    
  }

  
  
  

  if (millis()>15000 && gps.charsProcessed()<10){
    Serial.println("No GPS Detected");
    while(true);
  }

  String gpstime;

  if (gps.location.isValid())
  {
    gpstime += String(gps.location.lat(), 6); 
    gpstime += "," + String(gps.location.lng(), 6);
  }
  else
  {
    gpstime += "N/A";
    gpstime += ",N/A";
  }
  
  String hour, minute, second;
  if (gps.time.hour() < 10) {
    hour = zero + String(gps.time.hour());
  }
  else {
    hour = String(gps.time.hour());
  }

  if (gps.time.minute() < 10) {
    minute = zero + String(gps.time.minute());
  }
  else {
    minute = String(gps.time.minute());
  }

  if (gps.time.second() < 10) {
    second = zero + String(gps.time.second());
  }
  else {
    second = String(gps.time.second());
  }

  String timeStr;
  if (gps.date.isValid() && gps.time.isValid()) {
    timeStr = String(gps.date.year()) + "-" + String(gps.date.month()) + "-" + String(gps.date.day()) + " " + hour + ":" + minute + ":" + second;
    gpstime += "," + timeStr + ",";
  }
  else {
    Serial.println("NA");
  }


  if(Serial.available()){
      LoRa.beginPacket();
      LoRa.setTxPower(14,RF_PACONFIG_PASELECT_PABOOST);
      LoRa.print(gpstime + Serial.readStringUntil('\n') + ",2" + depth);
      Serial.print(gpstime);
      LoRa.endPacket(); 
  }
  

  if (millis() > 5000 && gps.charsProcessed() < 10)
  {
    Serial.println(F("No GPS detected: check wiring."));
    while(true);
  }

  
}


void sendLora(){
//  Serial.print();
//  Serial.println("-------------------------------------------");
//  LoRa.beginPacket();
//  LoRa.setTxPower(14,RF_PACONFIG_PASELECT_PABOOST);
//  LoRa.print();
//  LoRa.endPacket(); 
 }

  
void displayInfo()
{
  Serial.print(F("Location: ")); 
  if (gps.location.isValid())
  {
    Serial.print(String(gps.location.lat(), 6));
    Serial.print(F(","));
    Serial.print(String(gps.location.lng(), 6));
  }
  else
  {
    Serial.print(F("INVALID"));
  }

  Serial.print(F("  Date/Time: "));
  if (gps.date.isValid())
  {
    Serial.print(gps.date.month());
    Serial.print(F("/"));
    Serial.print(gps.date.day());
    Serial.print(F("/"));
    Serial.print(gps.date.year());
  }
  else
  {
    Serial.print(F("INVALID"));
  }

  Serial.print(F(" "));
  if (gps.time.isValid())
  {
    if (gps.time.hour() < 10) Serial.print(F("0"));
    Serial.print(gps.time.hour());
    Serial.print(F(":"));
    if (gps.time.minute() < 10) Serial.print(F("0"));
    Serial.print(gps.time.minute());
    Serial.print(F(":"));
    if (gps.time.second() < 10) Serial.print(F("0"));
    Serial.print(gps.time.second());
    Serial.print(F("."));
    if (gps.time.centisecond() < 10) Serial.print(F("0"));
    Serial.print(gps.time.centisecond());
  }
  else
  {
    Serial.print(F("INVALID"));
  }

  Serial.println();
}