PSEUDOCODE.md

Navigation Module Pseudocode

Init

• Define waypoint array (to act as a buffer so that multiple waypoints can be loaded and completed in sequence) (array of Objects)
• Ask for waypoints

AddWaypoint ( waypoint )

• Waypoint must be an Object in this format: {prescript: function () { }, postscript: function () { }, gpsLocation: {x: 59..., y: 23} }
• Append waypoint to buffer

InsertWaypoint (waypoint )

• Recall buffer
• Insert waypoint before and shift others back

ActivateWaypoint ( waypoint = {prescript:function, postscript:function, location:null } )

• Check waypoint parameter
• If its location is not null, insert new waypoint in front of buffer
• If its location is null, check the waypoint buffer for next waypoint
• If the buffer is empty, exit
• Create new mission for waypoint
  • Recall GPS location of waypoint
  • Get GPS location of drone
  • Calculate vector to waypoint relative to drone
    • Let $(waypoint)$ be the location of the waypoint
    • Let $(drone)$ be the location of the drone
    • $(waypoint) - (drone) = $
  • Calculate angle of vector in relation to NSEW
    • Recall X and Y components of resulting vector
    • $\tan{\theta} = y/x$
    • If x > 0 && y > 0: $\theta + 0\pi$
    • If x < 0 && y > 0: $\pi - \theta$
    • If x < 0 && y < 0: $\theta + \pi$
    • If x > 0 && y > 0: add 0 to $2\pi - \theta$
    • rotate ($\theta$)
  • Zero drone navigation map
  • Execute prescript
  • Take off
  • Rotate so that drone is forward-facing
  • Go (X component, Y component)
  • On mission completion
    • Get drone's GPS location
    • Compare with waypoint GPS location
    • If distance between the two is greater than the tolerance, activate waypoint a second time
    • If distance is acceptable, execute postscript, remove waypoint from buffer, and setTimeout( ActivateWaypoint, 0)

ClearBuffer ()

• Clear buffer