Fixstuff's World: Added GPS to bot

I got the GPS positioning up and running!

I received the Adafruit GPS Hat I ordered, which is this https://www.adafruit.com/products/2324.

I also ordered the stackable header https://www.adafruit.com/products/2223, so that I can plug the ribbon into the HAT board now, instead of the Pi.

I ordered the SMA to uFL adapter:
https://www.adafruit.com/products/851,

the external GPS antenna:
https://www.adafruit.com/products/960,

the coin cell battery:
https://www.adafruit.com/products/380,

the standoffs https://www.adafruit.com/products/2336

I soldered the stackable header, installed the board with no issues. I installed the gpsd daemon that Adafruit detailed in the nice online guide, and I used the python code from Dan Mandle's blog here:
http://www.danmandle.com/blog/getting-gpsd-to-work-with-python/.

In order to bring the data into Codesys, I wanted to pass the data values into the Codesys Pi's Modbus server, so I installed the pymodbus library from here:
https://github.com/bashwork/pymodbus

Using the library's payload builder and client's write registers function, I was able to successfully get the data from the GPS into the Codesys.

This is the same method I will eventually use for the Phidget modules I will need as well eventually, since there is a ton of python code out there for that as well. I could end up compiling and running it in C, but I like the simplicity of using the Python, and speed in this case isn't an issue. We'll see what works out better later.

Here are some pictures...