Arduino Tracker Loop

arduino-tracker-loop.ino

void loop()
{
  if (millis() - lastGPSTime > 500) {
    lastGPSTime = millis(); // Update the timer
    
    latitude = myGPS.getLatitude(timeout);
    longitude = myGPS.getLongitude(timeout);
    speed = myGPS.getGroundSpeed(timeout);
    satellites = myGPS.getSIV(timeout);
    
    if(DEBUG) {
      Serial.print(F("Lat: "));
      Serial.print(latitude);
      Serial.print(F(" Long: "));
      Serial.print(longitude);
      Serial.print(F(" (degrees * 10^-7)"));
      Serial.print(F(" Speed: "));
      Serial.print(speed);
      Serial.print(F(" (mm/s)"));
      Serial.print(F(" satellites: "));
      Serial.println(satellites);
    }
  }

  if (IMU.accelerationAvailable()) {
    IMU.readAcceleration(ax, ay, az);
    if(DEBUG) {
      Serial.print(F("Accel x: "));
      Serial.print(ax);
      Serial.print(F(" y: "));
      Serial.print(ay);
      Serial.print(F(" z: "));
      Serial.println(az);
    }
  }

  if (IMU.gyroscopeAvailable()) {
    IMU.readGyroscope(gx, gy, gz);
    if(DEBUG) {
      Serial.print(F("Gyro x: "));
      Serial.print(gx);
      Serial.print(F(" y: "));
      Serial.print(gy);
      Serial.print(F(" z: "));
      Serial.println(gz);
    }
  }

  if (APDS.gestureAvailable()) {
    // A gesture was detected, read and print to serial monitor
    switch (APDS.readGesture()) {
      case GESTURE_UP:
        Serial.println("Detected UP gesture");
        break;
      case GESTURE_DOWN:
        Serial.println("Detected DOWN gesture");
        break;
      case GESTURE_LEFT:
        Serial.println("Detected LEFT gesture");
        break;
      case GESTURE_RIGHT:
        Serial.println("Detected RIGHT gesture");
        break;
      default:
        // ignore
        break;
    }
  }

  if (dataFile) {
    counter += 1;
    String dataString = "";
    dataString += String(counter) + ",";
    dataString += String(ax) + ",";
    dataString += String(ay) + ",";
    dataString += String(az) + ",";
    dataString += String(gx) + ",";
    dataString += String(gy) + ",";
    dataString += String(gz) + ",";
    dataString += String(latitude) + ",";
    dataString += String(longitude) + ",";
    dataString += String(speed);
    dataFile.println(dataString);
  }
  
  delay(150); // Don't pound too hard
}