n this project, we use an Arduino Uno to build an autonomous "follow me" cooler.

The robot
cooler connects to a smartphone via Bluetooth and uses GPS to navigate. All the electronics
will be contained in the base so that other objects can be carried as well.
Find all the 3D printable parts for this project on our
Patreon: https://www.patreon.com/posts/follow-me-cooler-37733146
How We Built It
We created two videos about the build process for this project. In this first video, Davis
explains how to build the base.
Part 1. Davis explains how to build the base

To construct the base, we used a large piece of scrap 1/4" MDF board and a couple 1x3"
planks to serve as the sidewalls. Standing the boards up on end to create a box helped keep
the cooler in place while the base was moving.
 MDF and 1x3 Sidewalls
PREVIOUSNEXT
 1
 2

We measured the MDF to be about 1 inch larger on each side than the dimensions of the
bottom of the cooler. In this case, the cooler was 17.5x11.5", so we cut the MDF to be about
19.5x13.5". The extra space allowed the 1x3" boards to be nailed on top of the MDF. Our
jigsaw worked well to cut this piece.
The 1x3" planks were cut to the same length as the depth of the base, but we made them
about 2 inches shorter on the width so that they could align with the edges of the MDF. The
planks were attached to the MDF with a few small nails.
 Making a wooden box to hold the cooler

PREVIOUSNEXT
 1
 2
 3
 4

In order to house the electronics, we made a small box using the same process as the base
platform (albeit using some 1x2" planks instead of 1x3"). We eyeballed the dimensions here,
but it turned out to be about 11x9". The electronics box was nailed to the bottom of our
platform after we cut a hole in the MDF with our jigsaw.
Electronics Box
PREVIOUSNEXT
 1
 2
Finally, we added the components for the drive system. The wheels used a couple 3D printed
brackets (3D parts provided below) to mount our high torque 12v motors. A 3D printed
connector was attached to a metal hub to mount the wheel on the motor shafts.
A simple swivel wheel was used on the back of the platform. It was attached with another 3D
printed bracket.

Drive system
 PREVIOUSNEXT
 1
 2

Electronics
In the second video, Aaron adds the electronics to the base of the cooler.
Part 2. Aaron explains how to wire up the electronics

The electronics were installed in the box cutout under the platform. We used an Arduino Uno
and a 5v battery to power the sensors, Bluetooth, and control logic. A 3s LiPo battery was
used to power the motors.

Arduino Uno and 5v Battery

A HC-05 Bluetooth module was mounted at the front of the platform for better range. The
rest of the components including a L298N motor driver, PAM-7Q GPS, and HMC6883L
compass were mounted inside and connected to the Arduino through the breadboard.
The compass works with I2C, so we connected the SLC and SDA pins to A5 and A4
respectively. The rest of the pins were connected through digital I/O. For more information
on how we connected the wires, see the diagrams provided in the schematics section below.
Bluetooth, GPS, and Compass
 PREVIOUSNEXT
 1
 2
 3

The motors were powered by drilling holes through the platform and attaching them the
L298N motor driver board. The 3s LiPo was connected as the main power source and we tied
the ground together with the Arduino power source for control logic.
 Wiring up the motors

PREVIOUSNEXT
 1
 2

The following image shows what everything looked like once it was connected in the
electronics box.
 Everything wired up in the electronics box

Motorized Lid
The motorized lid wasn't included in either of our build videos, so we posted some
supplemental instructions on how to add it.
Our cooler lid had a couple notches that kept the lid snapped shut when it closed. Our servo
wasn't strong enough to lift the lid when it was snapped shut, so we used a small Dremel tool
to sand down the notches.
We used a MG996R high torque servo power the lid. We 3d printed a hinged arm to connect
the servo horn to the top of the cooler. In order to keep it in place, we used some gorilla glue.
The servo was mounted on the side of the cooler with a piece of 3M double sided outdoor
mounting tape.
A hole was drilled on the back of the cooler to feed the servo wires through. We used a
couple of extension wires to attach it to power, ground, and the signal wire pin 3 on the
Arduino.
Adding a servo for the motorized lid
 Mounting the motorized lid servo

PREVIOUSNEXT
 1
 2
 3
 4

Preparing Your Blynk App

This is the configuration we used for our Blynk app.
Once you have everything configured property, verify and upload the code to your Arduino.
If you are outside, it will take a few seconds for the GPS to acquire a satellite lock. Once it
does, it will begin flashing.
Make sure your Android device is paired with HC-05 Bluetooth module. If it asks for a
password, it should be default 1234. Open Blynk and press play!
 Testing the robot

All of the code for this project is provided open source on our Github page. For more
instructions on how to use it, view the README.md.
Cheers,
Aaron @ Hacker Shack
CODE
Source Code
This code should be loaded on your Arduino Uno. It powers the cooler base
platform and servo motor.

HackerShackOfficial / Autonomous-Follow-Me-Cooler
73 47
Cooler that follows you by navigating via GPS 🍹🌊⛱ — Read More
Latest commit to the master branch on 1-28-2021
Download as zip
SCHEMATICS
Circuit Diagram
DOWNLOAD
 COMMENTS
Please log in or sign up to comment.

Konstantin Dimitrov
5 years ago

Awesome !

 2 thanks

Covenant I Chukwudi
5 years ago

extremely awesome

 1 thank

Erich “WitchDoctor” Stein

5 years ago
Hi. I like the project. The following system is a handy gismo to use. I'm interested to adapt
this for my tracked robot for flea market shopping cart.

Tim Siersema
4 years ago

Did you ever get anywhere with it? I have a shopping cart that has been my Mardi Gras cart
(I live in New Orleans) for years that I tricked out with better wheels and some other
modifications. I want to do this with the cart, but I'm sure it would require some heavier duty
motors.

 1 thank

harshakommuri
a year ago

hey, im thinking of doing project called human follower smart billing trolly. what kind of
motors should i use to carry heavy weights

johny smith
5 years ago

how i can purchase ?? i am Just New Here How much cost ??

user42653
5 years ago

A source for the 3D printed parts would be nice

Hacker Shack
5 years ago

We modeled them. You can download them on this page.

 1 thank

salim833
 3 years ago

Hello, can you please help me? i do similar to this project but The prototype cannot move,
everything setup but the problem with Bylink app, can you please give me your email to send
the code to you?
Thanks

 1 thank

saurabh kumar
2 years ago

Sir please help me for follow me cooler project because i am not be able to connect it with
gps sir please help

 1 thank

jmanz6
5 years ago

I am very interested in trying to replicate your project. My plan is to eventually upsize it a bit
to use as a cart for carrying items while at the beach/zoo/fleamarket. Another thing I may try
is to make a R2D2 for use at Comicon or Halloween.

 1 thank

kzap
5 years ago

I see in the comments that Blynk is sending innacurate GPS data. You recommend making
our own android app to stream the GPS data. Can you shed some light on what part of the
code will need to change in order to hook into our own app vs bylink?

Hacker Shack
5 years ago

We have a function called driveTo(geoloc, timeout). You'll need to wait for data from
your new app in the main loop, then call this function with the new coordinate.
Erich “WitchDoctor” Stein
5 years ago

It's a real tough time working with BLE bluetooth, from Android to the hm-10 modules. I
tried to do this in Android Studio months ago, and got lost. I was able to use the hc-05/06
modules in Android Studio, they work good and the example projects do not error out (like
the HM-10 BLE example does). I tried again to scan google for Android Studio BLE project
examples recently, and was not able to find anything new. I may have found one project that
worked, he ended up having to trick the stream since using it as a straight-up serial port was
not easy.

 1 thank

kzap
5 years ago

Hacker House, Thanks. Can you please be more specific. Which files do I need to modify in
order to hook it into my own android app?

Hacker Shack
5 years ago

cooler.ino

 1 thank

sabith
3 years ago

I like it .we started to make this follow me robot.

I have doubt ,can i use NEO 6M GPS MODULE insted of PAM 7Q GPS MODULE

 1 thank

Rodrigo Mendes
3 years ago

You made it with the NEO 6M? If you did, please let me know how...

Yusuf Ceyo
3 years ago

can you send me the code corrected thanks

 3 thanks

NL Duy
3 years ago

can you send me the code corrected thanks

Gassan Jabli
3 years ago

hi.how are you,

i am rebuilding autonomous follow me cooler and i did every thing (connections and parts of
the project),but instead of using lipo battery I used normal 12v battery .is that will work fine
or not?
because the project did not work with only the servo is working .
and should i change the timeout for GPS and COMPASS_OFFSET ,if so,how i can change
them i mean based on what i should change them ?
i hope you reply to me as soon as possible .
by the way, i changed the DECLINATION_ANGLE only.
thank you for your time.
you can contact with for more information through:
email: jabli717@gmail.com

Qihua
3 years ago

Could you sent the correct code please, because I was not able to compile the code. Thanks.
Email: qihuahx@gmail.com

HPK001
2 years ago

Hi I have the same problem as you. Do you know how to do it? Can I use NEO 6M GPS
MODULE instead of PAM 7Q GPS MODULE?

 1 thank

Md. Sefath-E-Sonet
a year ago

me too

Jeff bridges
5 years ago

This is great! What was the approximate cost to build?

Hacker Shack
5 years ago

Around $200
 Qihua
3 years ago

Hi, I am working on this project too, but the code doesn't compile successfully on Arduino,
which shows that fatal error: Adafruit_Sensor.h: No such file or directory
#include <Adafruit_Sensor.h>.
Please help me out, thanks.

 1 thank

ibeltran
5 years ago

would it work with 9v motor? i dont need it to carry much

weight

Roman Kolbe
5 years ago

We made one! Unfortunately it is not working. Can you help us? With Blynk on Android we
can switch the Lid Servo. The Cooler is not following. Maybe it is a problem with the
Magnetic Declination. We live in Latitude: 51° 53' 15.9" N, Longitude: 8° 23' 46.7" E. I
insert a DECLINATION_ANGLE 2.13f.
How can you switch modes? You are writing about GPS Streaming and GPS Waypoint.
In your schematics is an error with pin 13. It has to be pin 12.

 1 thank

Hacker Shack
5 years ago

Is it moving at all? There are quite a few things that could be going wrong like the motors not
hooked up to power, gps doesn't have satellite lock, etc. You can see logs by opening the
serial monitor on 4800 baud. It might be useful to start there.
 To use the waypoint mode, we disabled GPS streaming module in Blynk. You can enter
coordinates in the terminal (separate lat/lon with a comma and separate coordinates with a
colon). If possible, I would get that working first because it is more reliable than coordinate
streaming. Thanks for letting me know about the error.

 1 thank

Jack Derbis
5 years ago

What exactly is the waypoint mode?

Joseph Soo
2 years ago

The code that mentions waypoints, replaces cooler loc with terminals

Jack Derbis
5 years ago

This is a very interesting project. I'm 13 and have a few questions. I'm going to attempt to
replicate this with the AdafruitBLE module, an Adafruit GPS, and 9DOF breakout board. In
your code, why do you convert degrees to radians so much, and how important is wrap and
declination on your heading to the rover's success? Would mine still work if I don't worry
about those?(Basically I'm using the Adafruit BLE app to send location and my phones
heading(bearing). I'm using the formula that you described in your video for basic
maneuvering. If I don't go into a lot of detail in my code, but still get the point across, do you
think it'll work OK?)

 1 thank

Yusuf Ceyo
3 years ago

can you send me the code corrected thanks

Daniel Dehkordi
a year ago

hi were you able to perfected the code? could you send me the updated code? my email
is daniel.dehkordi1@gmail.com

alejandromora
5 years ago

Hola soy de COLOMBIA tengo todo conectado, en el debug-monitor serie están las
coordenas que genera el celular y el gps del robot, sin embargo no se mueve, ya verifique los
cables etc, en blink conecta el gps pero cuando presiono el botón V1 en blink parece que no
envia señal, por que no funciona, no anda, ya verifique 1000 veces que todo este bien
conectado!!
I am from COLOMBIA I have everything connected, in the debug-monitor series are you
coordinate them that generates cell phone and gps of the robot, however it does not move,
you already check cables etc, in blink connects the gps but when I press button V1 in blink
seems to not send signal, that does not work, do not come on, check already 1000 times that
this thoroughly connected!
Thanks for the help

alejandromora
5 years ago

Hola ya se mueve, pero loco y no todo el tiempo, sera por la brújula o el GPS estoy usando el
GPS NEO 6M y aun no se si funciona el BLYNK
Hello already moves, but crazy and not all the time, will be the compass or GPS am using the
GPS NEO 6M and yet is if work the BLYNK

Roderick Mastrolinardo
4 years ago

hola ya resolviste ese problema? me pasa lo mismo y no se como arreglarlo soy de panamá
tal vez el cambio que hiciste me sirva.

alejandromora
5 years ago

Please can tell me as I enter the GPS coordinates by terminal and I change the code to do
this?
Thanks a lot

John McCulloch
5 years ago

This would be so dope at the local airshow or art festival...

Steve Charlesworth
5 years ago

Awesome project guys! About how fast does this go, and what's the approximate batt life?
Where I'm going is I'm wondering if we could use the platform as a base of an autonomous
robot to chase one of us around during our makerspace's appearance in our town's 4th of July
parade.

Steve Charlesworth
4 years ago

Well, I didn't do it in time for this year's parade but now that I've made one I know at least
part of the answer. Unladen it travels at a medium to a bit slow walking speed which should
be fine next time around. Next I will walk around the neighborhood with it and see how long
it will last. I'll post my version at some point...thanks again, hackerhouse, for some
inspiration and guidance.

 1 thank

Thiên Vấn
4 years ago

Can you share your project ! ? thank

 Rith
5 years ago

Hello i want to ask you something ..when i compile your code it's has a little problems ...
when i compiled it shown me some lines was error ...The problem is below :
i hope you can help me 😦
Thanks
" C:\Users\User\Documents\Arduino\libraries\blynk-library-
master\src\utility\BlynkTimer.cpp: In member function 'void BlynkTimer::enableAll()':
C:\Users\User\Documents\Arduino\libraries\blynk-library-
master\src\utility\BlynkTimer.cpp:264:42: error: 'numRuns' was not declared in this scope
if (timer[i].callback != NULL && numRuns[i] == RUN_FOREVER) {

C:\Users\User\Documents\Arduino\libraries\blynk-library-master\src\utility\BlynkTimer.cpp:
In member function 'void BlynkTimer::disableAll()':
C:\Users\User\Documents\Arduino\libraries\blynk-library-
master\src\utility\BlynkTimer.cpp:273:42: error: 'numRuns' was not declared in this scope
if (timer[i].callback != NULL && numRuns[i] == RUN_FOREVER) {

^
Multiple libraries were found for "TinyGPS.h"
Used: C:\Users\User\Documents\Arduino\libraries\TinyGPS-master
Not used: C:\Users\User\Documents\Arduino\libraries\TinyGPS-13
exit status 1
Error compiling for board Arduino/Genuino Mega or Mega 2560.
"

 1 thank

casanova_zeus
5 years ago

this may be a dumb question, but what does the L298 Enable A & B mean? I can get the
servo to work but I cannot get it to move or track me.
Awesome project BTW. I had this idea a couple of years ago but no idea how to accomplish
it. d'oh

casanova_zeus
5 years ago
I figured out the Enable A and Enable B, but the only think that works is still the servo. It
actually quits working once the GPS starts to blink. I never get messages in the terminal. I
assumd that would be the errors?

Thiên Vấn
4 years ago

My HMC5883L not comunication ! Why 😦 ?

Joseph Soo
2 years ago

U got scammed. Not even kidding. U probably bought a cheap knockoff

Terrence Wright
5 years ago

Hello Great Project. I have been working on something similar but, using a infrared sensor
and remote to control the robot. I took your idea and added the Bluetooth, magnetometer, and
GPS sensors micro controller (Mega 2560). The one sticking point I have is when converting
your code to use a 4wd motor shield (adafruit). Do you have any example code I could use?
In my code I'm using the adafruit library and defining each of the motors as such:
#include <AFMotor.h> // adafruit motor shield library
AF_DCMotor Motor_Left_Front(4, MOTOR34_1KHZ); // Motor 4
AF_DCMotor Motor_Right_Front(3, MOTOR34_1KHZ); // Motor 3
AF_DCMotor Motor_Left_Rear(1, MOTOR12_1KHZ); // Motor 1
AF_DCMotor Motor_Right_Rear(2, MOTOR12_1KHZ); // Motor 2
Any help would be appreciated.

Jack Derbis
4 years ago
Try subbing all your values into where there's are(GPS, magnetometer, bluetooth). that's what
I did and I got mine to work and i was using all different parts. It takes a while and
determination but it'll work if you understand their code and where you need to sub your
values in.

Ayoub Abdoun
4 years ago

hello please hellp me want to do this project and can't find twopart gps and compass ///
changing the pam7q with th neo 7M mut change the code §§§
please help me

Rodrigo Mendes
3 years ago

Did you made it work?If yes, can you send me the code?

Patent_Attorney--Stephen_Bullock
4 years ago

I love it!!

sud2037
4 years ago

A awesome project, i need explanation for code you have provided and detailed informations
to develop . reply me so that i could start my process in implementing it.

Jack Derbis
4 years ago

Basically you just have to watch the videos a few times to get a hang of it and then study the
code. That's what I did and mine works fine.
sud2037
4 years ago

I have problem regarding header files , even if i add it show me error,please suggest me
something to fix it

Jack Derbis
4 years ago

Do you mean you are trying to add cooler.Definitions to the code? If so, you don't add
them(it). You copy and paste the code from cooler.Definitions into cooler.ino at the top.

Thiên Vấn
4 years ago

Can you help me?

I cannot reveived from HMC ! why 😦(

Gassan Jabli
3 years ago

can you share your modified code,please?

Gassan Jabli
3 years ago

you can send it to my email: jabli717@gmail.com

rajuni deepak
a year ago
Hy man if you got the right code please send me if it possible my email
is rajunideepak1@gmail.com

sud2037
4 years ago

I watched your last youtube videos regarding autonomous follow me cooler and i am waiting
for your next video regarding cooler

Ar Ken
4 years ago

Hi hacker House, I'm currently watching you're awesome Projects and decided to make one. I
just want to ask in the schematic diagram that the orange and white wire says L298N enable
A and B, does that means they have no connections?

Jack Derbis
4 years ago

Enable A and B is how you speed the or slow the motor(s). In1 and In2 are digital and that's
how you tell the motor to go forwards or backwards. The enable pin is how you pwn the
motor and change the speeds. They are still connected, it's just not shown. If you look at the
code you'll see. That's how the robot turns(one wheel is going faster than the other).

 1 thank

Ar Ken
4 years ago

Wait, Im pretty slow at this.. Im sorry, but the A and B wires. Where are they connected to?
Im very thankful for you reply! Thank you..
Jack Derbis
4 years ago

A motor driver has 4 In pins(two for each motor) plus the A and B wires(these are also called
enable pins). There is a total of three pins for each motor, two In pins, and one enable pin, or
in this case, the A wire. Just because they are unused in the schematic doesn't mean that they
are unused- they are connected. maybe try watching one of the videos where they
demonstrate the wiring process. In the schematic, HackerHouse didn't make the motor driver
to include the pins. They would be connected to the motor driver you are using. The 'A' wire
would go to the EnA pin on your motor driver. The 'B' wire would then go to the EnB pin.
I'm sorry that the schematic is unclear but I hope my explanation helped. If not then I'd be
happy to elaborate further.

Ar Ken
4 years ago

Yes, Its very helpful.. As a matter of fact, it's almost clear to me.. But please tell me your
opinion about this:
https://www.youtube.com/watch?v=6I5rQfJSmaM&t=305s
In this video 4:40 to 4:50 He connected wires from the Motor Driver to the arduino pins.. Is
this what you meant by saying "maybe try watching one of the videos where they
demonstrate the wiring process." Because He connected the all the PWMs in the motor driver
to the same PWMs at the arduino.. Do you think I just have to follow this? is that what you
meant? Thank you for your constant help.. Im very grateful..

Jack Derbis
4 years ago

Yes, just followed that. You're correct.

Ar Ken
4 years ago

Thank you for your great help Jack!

Gassan Jabli
3 years ago

hi.how are you,

i am rebuilding autonomous follow me cooler and i did every thing (connections and parts of
the project),but instead of using lipo battery I used normal 12v battery .is that will work fine
or not?
because the project did not work with only the servo is working .
and should i change the timeout for GPS and COMPASS_OFFSET ,if so,how i can change
them i mean based on what i should change them ?
i hope you reply to me as soon as possible .
by the way, i changed the DECLINATION_ANGLE only.
thank you for your time.
you can contact with for more information through:
email: jabli717@gmail.com

Darick Joel Agudelo

4 years ago

12v motor is unavailable. Can you suggest an alternate part number?

Jack Derbis
4 years ago

Try finding another 12v motor that has the same specs.

user7878077
4 years ago

Hello! Really awesome video! I am trying to do something very similar but I want to do it in
a closed space. I don't think GPS will work indoors, do you have any suggestion on how I
might do that?
Jack Derbis
4 years ago

Try putting an external gps antenna on your gps. That should help the connection indoors.
You can still still use the gps.

Rith
4 years ago

Hello..now i'm making it but i have some problem with compass sensor .I used different
compass sensor ...In this project you used HMC5883l but for me I used GY-511
LSM303DLHC ...So I don't know how to change your function in here for use with my own
sensor "float geoHeading() "..I'm really need your help now ...I hope you can help me and
this is my compass library
#include <Adafruit_LSM303.h>

Dominik Grodl
4 years ago

Is it possible to make it with ublox GPS? And what and how I have to change in code to
make it works? Thanks

killclap
4 years ago

actually im working in car industry and i thought its a good idea have "follow me " cars to
arrive tool when you are working. Nice

Hazim Wahizal
4 years ago
How to make this project without using gps function

Jack Derbis
4 years ago

You can't.

Hazim Wahizal
4 years ago

Why??? If i take out the gps and compass components wouldn't the device still follow the
person using the apps?

Rith
4 years ago

Hello Now I'm making it but my problem is I can't connect the Blynk app to Bluetooth when
I try to connect it something Alert on my smartphone screen " Something went wrong when
connecting to your bluetooth device. Please try again later"...I can't find my mistake I'm
really need your help right now
Zelkthorn
4 years ago

So I downloaded the source code from the GitHub page and I put in the Authentication code
for Blynk and changed some of the cooler definitions. So the code I got should be the one
that everyone is saying that is working for them. But mine won't even completly compile and
spews out this.....
"
C:\Users\Zelkthorn\Documents\Arduino\Autonomous-Follow-Me-Cooler-
master\Autonomous-Follow-Me-Cooler-master\Cooler\Cooler.ino: In function 'void
BlynkWidgetWrite2(BlynkReq&, const BlynkParam&)':
Cooler💯 error: 'GpsParam' was not declared in this scope
GpsParam gps(param);
^
Cooler💯 error: expected ';' before 'gps'
GpsParam gps(param);
^

Cooler:105: error: 'class TinyGPS' has no member named 'getLat'

Serial.print(gps.getLat(), 7); Serial.print(", "); Serial.println(gps.getLon(), 7);
^

Cooler:105: error: 'class TinyGPS' has no member named 'getLon'

Serial.print(gps.getLat(), 7); Serial.print(", "); Serial.println(gps.getLon(), 7);
^

Cooler:108: error: 'class TinyGPS' has no member named 'getLat'

phoneLoc.lat = gps.getLat();
^

Cooler:109: error: 'class TinyGPS' has no member named 'getLon'

phoneLoc.lon = gps.getLon();
^

C:\Users\Zelkthorn\Documents\Arduino\Autonomous-Follow-Me-Cooler-
master\Autonomous-Follow-Me-Cooler-master\Cooler\Cooler.ino: In function 'void setup()':
Cooler:379: error: no matching function for call to 'BlynkStream::begin(SoftwareSerial&,
char [33])'
Blynk.begin(bluetoothSerial, auth);
^
C:\Users\Zelkthorn\Documents\Arduino\Autonomous-Follow-Me-Cooler-
master\Autonomous-Follow-Me-Cooler-master\Cooler\Cooler.ino:379:36: note: candidate is:
In file included from
C:\Users\Zelkthorn\Documents\Arduino\libraries\Blynk\src/BlynkSimpleSerialBLE.h:23:0,
from C:\Users\Zelkthorn\Documents\Arduino\Autonomous-Follow-
Me-Cooler-master\Autonomous-Follow-Me-Cooler-master\Cooler\Cooler.ino:9:

C:\Users\Zelkthorn\Documents\Arduino\libraries\Blynk\src/Adapters/BlynkSerial.h:73:10:
note: void BlynkStream::begin(const char*, Stream&)
void begin(const char* auth, Stream& stream) {

C:\Users\Zelkthorn\Documents\Arduino\libraries\Blynk\src/Adapters/BlynkSerial.h:73:10:
note: no known conversion for argument 1 from 'SoftwareSerial' to 'const char*'
exit status 1
'GpsParam' was not declared in this scope
"