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razor_imu.read(); sonar.read(); top.read(); gps_main.read(); //JSON Formatted Output, semicolon signifies end of group if( gps_main.isValid() ) { //Valid signal PRINTF( bluetooth, "{'imu': {'gyro': {'x': %d,'y': %d,'z': %d},'accel': {'x': %d,'y': %d,'z': %d},'yaw': %d,'pitch': %d,'roll': %d}, 'sharp': %d,'sonar': %d,'gps': {'satellites': %d,'longitude': %f,'latitude': %f,'altitude': %f,'time': %f}};", razor_imu.getGyroX(), razor_imu.getGyroY(), razor_imu.getGyroZ(), razor_imu.getAccelX(), razor_imu.getAccelY(), razor_imu.getAccelZ(), razor_imu.getBearing(), razor_imu.getPitch(), razor_imu.getRoll(), top.getDistance(), sonar.getDistance(), gps_main.getNumSatellites(), gps_main.getLongitudeDegrees(), gps_main.getLatitudeDegrees(), gps_main.getAltitudeMeter(), gps_main.getFixTime() ); } else { PRINTF( bluetooth, "{'imu': {'gyro': {'x': %d,'y': %d,'z': %d},'accel': {'x': %d,'y': %d,'z': %d},'yaw': %d,'pitch': %d,'roll': %d}, 'sharp': %d,'sonar': %d,'gps': {'satellites': 0,'longitude': -1,'latitude': -1,'altitude': -1,'time': -1}};", razor_imu.getGyroX(), razor_imu.getGyroY(), razor_imu.getGyroZ(), razor_imu.getAccelX(), razor_imu.getAccelY(), razor_imu.getAccelZ(), razor_imu.getBearing(), razor_imu.getPitch(), razor_imu.getRoll(), top.getDistance(), sonar.getDistance() ); }