GPSRover 1.0.

Well this is GPSRover 1.0. its not my first robot but it is my first on LMR.

    So far all it does is move between different saved waypoints but im thinking of maybe adding some obstacle detection/avoidance and possibly some kind of mapping using processing.

    Im using 1/16 scale rc tank, that i found on ebay for 40euro, as a chassis and an arduino mega as the brains. Im also using a TextStar serial lcd (http://www.coolcomponents.co.uk/catalog/product_info.php?cPath=45_71&products_id=428) from cool component which unbelievably easy to use.

    At the moment, to save a waypoint, the robot has to be carried the location, the coloured buttons and a menu on the lcd is used to save that position (not ideal i know). When all the waypoints are saved the robot navigates between them.

    A lot of my code, which ive attached, is very similar to Patrick McCabe's code, i adapted his PD control for my differential track drive too which seems to work very well. My code definitely isnt pretty so i would welcome any suggestions people might have to improve it, i also havent been able to test it fully because the 7.2v battery for the drive motors stopped working and im waiting for a new one to arrive, but in the tests i have done it seems to work ok.