### Variable Init latitude = 0.0 longitude = 0.0 heading = 0.0 time = "" ### MAIN LOOP while True: try: # Handler to Catch Ctrl-C ### Get Latest Data gps_device.update() time = gps_device.get_datetime() latitude = gps_device.get_current_latitude() longitude = gps_device.get_current_longitude() heading = compass.get_heading_compensated(COMPASS_OFFSET) if latitude == 0.0 or longitude == 0.0: # Skip over empty GPS Readings continue ### Calculate Distance and Bearing to Target curr_location_point = point.Point(latitude, longitude) meters_to_waypoint = curr_waypoint_point.distance(curr_location_point) * 1000 # Convert kM result to Meters bearing_to_waypoint = curr_location_point.bearing(curr_waypoint_point) ### Determine Speed if meters_to_waypoint <= 4.2: # Made it! print("*******WP REACHED!*******"), if curr_waypoint == len(waypoints) -1: print("\n\n************DONE!**********")