diff --git a/Arm Warmer/Upload Route/route.gpx b/Arm Warmer/Upload Route/route.gpx
index 99df74eb0a9395859b8a8390efda9d51ac5cd9af..aa0e107138c3d04d1e6a92eb047dbb96f6819272 100644
--- a/Arm Warmer/Upload Route/route.gpx	
+++ b/Arm Warmer/Upload Route/route.gpx	
@@ -1,9076 +1,3714 @@
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-<metadata>
-<name><![CDATA[---ABP Southampton Marathon 2018.9]]></name>
-<desc><![CDATA[Exciting new routes - to be finalised.
-]]></desc>
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+  <desc>All distances Start and Finish in the centrally located Southampton Guildhall Square. The ABP Southampton Marathon is a 2 lap course that provides a flavour of all Southampton has to offer, from green parks to the shoreline, running Riverside and through some of the historic landmarks of the city too! This spectacular route begins in the city centre (with easy access, regardless of how you travel to the race village); before running past the ABP Southampton docks, over the famous Itchen Bridge with it's glorious views out to the Southampton Waters, The Solent and the New Forest. Following a section by the shoreline at Weston Shore, the return over the Bridge takes you actually inside the legendary St Mary's Football Stadium (home to Saints FC!) Passing over Northam Bridge with riverside views again, you run through the beautiful Riverside Park before crossing into Portswood and running through the Southampton Common (home to the UK's second largest parkrun!) This then leads you into your second lap - now you know what to expect from the route, you can relax and enjoy the sights all over again before crossing the Finish Line, victorious and ready to receive your wonderful medal and Finisher tee. </desc>
+  <author>
+   <name>Rees  Leisure </name>
+   <link href="https://www.strava.com/athletes/22367484"/>
+  </author>
+  <copyright author="OpenStreetMap contributors">
+   <year>2020</year>
+   <license>https://www.openstreetmap.org/copyright</license>
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+  <link href="https://www.strava.com/routes/2767386843614369162"/>
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 </gpx>
diff --git a/Arm Warmer/Upload Route/route.txt b/Arm Warmer/Upload Route/route.txt
index 0f68349fb8722b06b18190acb3ba268e4e5b22d4..24c5041659400bfe9e08cb6757eb884efab10c0f 100644
--- a/Arm Warmer/Upload Route/route.txt	
+++ b/Arm Warmer/Upload Route/route.txt	
@@ -1,11 +1,8 @@
-50.93716637832594, -1.3963654585045788
-50.93688241483448, -1.396376187340466
-50.93661197180189, -1.3963118143251425
-50.936361810596445, -1.3962367124739314
-50.936084603364485, -1.3961830682944953
-50.93582091690305, -1.3961079664432845
-50.935550467697105, -1.3961401529509463
-50.93528677820697, -1.396247441309819
-50.935023087221644, -1.3964083738481279
-50.93476615610547, -1.3964834756993387
-50.93449570076545, -1.3964191026840151
\ No newline at end of file
+50.937949243531584, -1.3964924904142175
+50.937590914395656, -1.396449575067753
+50.93726638751239, -1.3963744732114407
+50.93689453100757, -1.3963422867015927
+50.936549715955124, -1.396277913681896
+50.93618461487747, -1.3962028118255834
+50.935826272143494, -1.3961384388058868
+50.93546116538595, -1.3961813541523511
\ No newline at end of file
diff --git a/Combined/arm_warmer_v6.6/arm_warmer_v6.6.ino b/Combined/arm_warmer_v6.6/arm_warmer_v6.6.ino
new file mode 100644
index 0000000000000000000000000000000000000000..0f780bc7235d40cfb34eddb6b18ba02becfbf973
--- /dev/null
+++ b/Combined/arm_warmer_v6.6/arm_warmer_v6.6.ino
@@ -0,0 +1,985 @@
+/* ARMWARMER    V6.5 */
+//NEW IN V6.5:
+//GPS enable and disable from sleep/wake uncommented
+//GPS confirmed working with noise after wake
+
+//cleaned up code with new working off-track features
+
+//debugging prints and new formula testing in offTrackHeading()
+//working off track direction
+
+//ADDED pace conversion to convert min/km to min.sec/km to display on LEDs
+//NEED TO CONFIRM THAT PACE IS APPROXIMATELY CORRECT?
+//removed delay for LED flickering that broke GPS serial code
+//LED flickering delay replaced with timer defined below
+//added new function in compass_helper guidingHeading() without return 360-heading for guiding headings
+//360-heading added back to guidingHeading() because wayfinding was turning the wrong way
+//startup battery indicator glitching fix attempted
+
+
+
+//GPS HELPER UPDATED WITH LINE IN SETUP TO FLUSH OUT OLD SERIAL DATA AFTER WAKE UP
+//GPS enable and disable pin functions removed - replaced by GPS.standby() & GPS.wakeup() helper functions
+//compass offset updated and waypointing offset updated (-180)
+
+//BATTERY READ VOLTATGE FUNCTION MODIFIED
+//PRINT INCLUDED FOR LEVEL WHEN TOGGLED TO
+//BATTERY FULL CHARGED - 3.87V - 2405
+//BATTERY CUT OFF FOR ARM WARMER - 3.55V - 2200
+//MAPPING FUNCTION IMPLEMENTED FOR BATTERY VOLTAGE READING
+
+//BUG!! - ARM WARMER WILL CYCLE ON AND OFF WHEN BATTERY CUT OFF SENDS IT INTO DEEP SLEEP
+//WILL NEED TO BE TURNED OFF MANUALLY
+
+////ADDED BLUETOOTH COM PORT ROUTE UPLOADING FEATURE AT STARTUP
+////ALSO CHANGED WAYPOINT CONSTANT DEFINITIONS TO FLOAT VARIABLES TO BE UPDATED OVER BLUETOOTH
+////VARIABLES CHANGED-
+//#define NUM_COORDS 6 
+//#define WAYPOINT_RADIUS 50 
+//#define WAYPOINT_DISTANCE 50
+
+////REORDERING OF LED MODES TO
+//0 - progress bar
+//1 - pace
+//2 - compass
+//3 - battery indicator
+//4 - no fix
+//5 - off track led (for a different colour scheme from the compass)
+
+// DEEP SLEEP GPIO WAKEUP IMPLEMENTATION
+// TOUCH SENSOR POWERED BY GPIO PIN 19
+// GPS MODULE ENABLE PIN CONTROLLE BY PIN 23 (LOW = GPS DISABLED)
+// Firebeetle charging circuit connected to A0/IO36 - reads Vbat/2
+// Displays battery indicator for 3 seconds on startup
+// Arm Warmer shows NO FIX on LED display at fixed intervals
+  //LED Library UPDATES -
+//0 - progress bar
+//1 - pace
+//2 - compass
+//3 - battery indicator
+//4 - no fix
+//5 - off track led (for a different colour scheme from the compass)
+
+#include "esp_sleep.h"
+
+#define DEBUG 1
+
+#define HOLD_DELAY_S 5
+
+#define TAP_DELAY 20
+uint32_t hold_counter = millis();
+uint32_t tap_counter = millis();
+uint32_t button_timer = millis();
+uint32_t tap_cooldown = millis();
+bool press = false;
+bool holding = false;
+bool tapping = false;
+bool LED_on = false;
+
+
+//New timer in v6.2 for LED flickering issue
+#define LED_REFRESH_DELAY 300 //LEDs refresh every 500 milliseconds
+long LED_REFRESH_TIMER = millis(); //timer variables for LED refresh
+
+//Bluetooth route uploading variables and constants
+float b = 0.0; //floating point value coming in through Bluetooth serial
+float counter = 0;//counting number of floats parsed
+bool rroute = false;//flag indicating route is being received
+//counter for waypoint data receiving over bluetooth
+//0-num waypoints, 1-waypoint distance, 2-waypoint radius
+int waypointDataCounter = 0;
+//x second timer at startup to wait for bluetooth route update
+#define ROUTE_UPLOAD_TIMEOUT 20000
+//Last 3 address of EEPPROM reserved for these 3 route variables
+#define NUM_COORDS_EEPROM 4084
+#define WAYPOINT_DISTANCE_EEPROM 4088
+#define WAYPOINT_RADIUS_EEPROM 4092
+//eeprom address variable for Bluetooth route receive
+long eepromAddr_BT = 0;
+//function prototypes for bluetooth route receive
+void receive_route();//receive route through bluetooth
+void update_route_vars();//update waypoint num, distance and radius from eeprom
+
+//LED Timer Variable - Timeout before showing progress bar
+#define LED_TIMEOUT 10000 //set to 10 seconds
+#define LED_FIX_TIMEOUT 50000//shows NO FIX on LEDs every 3 seconds
+#define STARTUP_BATTERY_TIME 3000//shows battery level for 3 seconds on startup
+
+//BATTERY VOLTAGE READING PIN, VARIABLE AND FUNCTION PROTOTYPE
+#define VBAT_PIN GPIO_NUM_36 //A0
+float vBat = 0;
+void readBatLevel();
+//added battery cut-off bool to enter deep sleep mode
+bool vBatCutoff = false;
+
+//DEEP SLEEP GPIO WAKEUP AND GPS/TOUCH POWER PINS
+#define SLEEP_PIN GPIO_NUM_4 //LOW - DEEP SLEEP : HIGH - POWERED ON
+#define TOUCH_POWER GPIO_NUM_19 //HIGH - POWER TO GPS/TOUCH : LOW - NO POWER
+#define GPS_ENABLE GPIO_NUM_25 //HIGH - GPS ON : LOW - GPS OFF/DISABLED - coin cell allows faster fix on enable
+
+//WAKE UP FUNCTION PROTOTYPE
+void print_wakeup_reason();
+
+#define TOUCH_SENSOR 39
+
+//Constant definitions for EEPROM progress tracking use (from EEPROM)
+#define EEPROM_SIZE 4096 //4kb for ESP32
+#define EEPROM_START_ADDR 0 //Address that the code sequentially starts checking waypoints from
+//variables updated at startup with values from EEPROM using update_route_vars()
+//changed to float in ARM WARMER V5.0
+float NUM_COORDS = 0; //number of reading pairs in eeprom
+float WAYPOINT_DISTANCE = 0; //a waypoint every 82.5m of the marathon route - total_distance/num_waypoints
+float WAYPOINT_RADIUS = 0; //in metres
+#define MS_TO_MINKM 16.6667 //1 metre / second =16.6666667 minutes / kilometre
+#define KNOTS_TO_MINKM 32.3974//divide knots by this number to convert to minutes per kilometer - further conversion needed to display on sevenseg
+
+//--required Arduino libraries
+#include "LED_controller.h"
+#include <EEPROM.h>
+#include <Adafruit_GPS.h>
+#include <math.h>
+#include <Wire.h>//I2C library
+//--helper files with useful functions we included in our libraries
+#include "compass_helper.h"
+#include "gps_helper.h"
+//#include "eeprom_helper.h" -- removed in v2 and functions brought to this file
+#include "bluetooth_helper.h"
+
+//LED controller variables - see led_controller.cpp
+//Adafruit_NeoPixel pixels(NUMPIXELS, PIN, NEO_GRB + NEO_KHZ800);
+//Adafruit_NeoPixel pixels;
+//input and modes need to be set to LED.input/modes in the loop for LED to work
+LED_controller LED;
+float input = 0;
+uint8_t modes = 0;
+
+//external variables from compass_helper and bluetooth_helper
+LSM303 compass;//compass library object
+BluetoothSerial s;//normal bluetooth serial
+int heading_offset;//constant offset for tilt-compass heading - defined in setup()
+
+//timer variables for two different approx. frequencies in loop
+long timer = millis();
+long LED_timer = millis();//brings LED mode back to progress bar after fixed interval
+long LED_FIX_timer = millis(); //timer to keep track of showing NO FIX on LEDs at intervals
+
+//Touch sensor value variable
+uint8_t touchSensorState = 0;
+
+//GPS/Geolocation global variables
+float latitude = 0;
+float longitude = 0;
+float speed = 0; //speed in knots
+float pace = 0; //pace in min/km
+float northHeading = 0;//compass heading to north
+float waypointHeading = 0;//compass heading to next waypoint on route
+float offTrackHeading = 0;//compass heading to last known waypoint when off-track
+float nextCheckpointDistance = 0;//real time distance to next checkpoint calculated every loop
+
+//waypoint speed variable
+unsigned long waypointTime = 0;
+unsigned long waypointStartTime = 0;
+bool checkpointFirstFlag = true;
+bool newCheckpointFlag = false;
+
+//EEPROM address and progress tracking variables -- previously in eeprom_helper.cpp
+uint8_t eepromAddr_i; /***************/
+uint8_t eepromAddrNext_i = 0; //might just be removed later because we are using speed straight from the GPS now
+uint8_t progress = 0; /***************/
+//waypoint tracker array is moved because NUM_COORDS is float in V5.0
+//Cannot be defined here - must be defined after void update_route_vars() runs
+//Waypoint tracker is unused for now and permanently commented out
+//bool waypointTracker[NUM_COORDS] = {false};/***************/
+
+//Offtrack EEPROM address storage variables with respective distance variables from current location
+//stores EEPROM address and distance of last known waypoint +- 1
+uint8_t offset_Addr_i[2] = {0};
+uint16_t checkpoint_distance[3] = {0};
+
+//Off-route warning flag -- TRUE when runner is off predefined EEPROM route
+bool isOffRoute = false;
+
+//prototypes for EEPROM address/progress tracking related functions
+//from eeprom_helper file
+void setupEEPROM();
+void updateProgress();
+void checkOffRoute();
+float getWaypointDirection();
+float offTrackWaypointDirection();
+void generateOffsetAddressIndices();//Generate index around current address index
+void serialPrintData();
+void serialDataBL();
+
+
+void setup() {
+  // put your setup code here, to run once:
+  Serial.begin(115200);
+  Wire.begin();
+  setupGPS();
+  setupEEPROM();
+  bluetooth_setup();
+  Serial.println("Serial working and GPS set up.");
+  s.println("Bluetooth working.");
+
+  //Set up A0/IO36 Battery Voltage Input
+  pinMode(VBAT_PIN, INPUT);
+
+  //Set up power rail Touch
+  pinMode(TOUCH_POWER, OUTPUT);
+  delay(100);
+  digitalWrite(TOUCH_POWER, HIGH); //power touch sensor
+
+
+  //Set up Enable Pin for GPS
+  gpio_hold_dis(GPS_ENABLE);//disable deep sleep hold on GPS
+  pinMode(GPS_ENABLE, OUTPUT);
+  delay(100);
+  //pinMode(GPS_ENABLE, OUTPUT_PULLDOWN);
+  //delay(100);
+  digitalWrite(GPS_ENABLE, HIGH); //enable GPS
+
+
+  Serial.println("Waking up GPS.");
+  s.println("Waking up GPS.");
+  GPSwake();
+  delay(100);
+
+  LED_on = true;
+
+  //Print the wakeup reason for ESP32
+  print_wakeup_reason();
+
+  //SET UP GPIO INTERRUPT TO WAKE FROM SLEEP
+  esp_sleep_enable_ext0_wakeup(SLEEP_PIN,1); //1 = High, 0 = Low
+
+  //LED
+  LED.setup();
+
+  //Set up touch sensor
+  pinMode(TOUCH_SENSOR, INPUT);
+
+  //Compass setup, calibration and cnst heading offset value
+  setupCompass();
+  calibrate_min(-569, -632, -683);
+  calibrate_max(+495, +627, +410);
+  heading_offset = 120; //constant heading offset for tilt compass
+
+  //Test compass heading in setup
+  northHeading = getHeading();//store north in global variable
+  //NO FIX? -- only prints out compass heading
+  s.print("Compass heading: ");
+  s.println(northHeading);
+  Serial.print("Compass heading: ");
+  Serial.println(northHeading);
+
+  //turn off all LEDs before showing battery indicator - fix indicator glitch?
+  LED.modes = 0;
+  LED.input = 0;
+  LED.brightness = 0;
+  LED.led_function();
+  LED.setPixels();
+  delay(250);
+  LED.brightness = BRIGHTNESS;
+
+  //Show Battery Status on LEDS for x seconds
+  vBatCutoff = false;//make sure bool is false for arm warmer to run once before deep sleep
+  readBatLevel();
+  Serial.print("Displaying battery level: ");
+  Serial.println(vBat);
+  s.print("Displaying battery level: ");
+  s.println(vBat);
+  LED.modes = 4;
+  LED.input = vBat;
+  //display on LEDs
+  LED.led_function();
+  LED.setPixels();
+  delay(STARTUP_BATTERY_TIME);//display for x seconds
+  hold_counter = millis();
+  Serial.println("Done");
+
+}
+
+
+void loop() {
+
+  //DEBUG PRINTS FOR V4
+  /*Serial.print("Mode: ");
+  Serial.println(modes);
+  Serial.print("Input: ");
+  Serial.println(input);*/
+
+  //Serial.println(digitalRead(SLEEP_PIN));
+
+  if (digitalRead(SLEEP_PIN) == 0 || vBatCutoff == true)
+  {
+    delay(500);
+    Serial.println("Going to sleep now");
+    s.println("Going to sleep now");
+
+/*-------------------------------------------
+    //Flush GPS TX and RX Serial for sleep
+    flushGPStx();
+    delay(100);
+    flushGPSrx();
+    delay(100);
+    Serial.println("Ended GPS Serial.");
+    s.println("Ended GPS Serial.");
+-------------------------------------------*/
+    
+    GPSstandby();
+    delay(100);
+    Serial.println("GPS in standby mode.");
+    s.println("GPS in standby mode.");
+
+    //Flush regular debug serial
+    Serial.flush();
+    delay(100);
+
+    //turn off power to touch sensor 
+    digitalWrite(TOUCH_POWER, LOW);
+    delay(200);
+
+
+    //disable GPS
+    digitalWrite(GPS_ENABLE, LOW);
+    delay(200);
+    gpio_hold_en(GPS_ENABLE);
+    gpio_deep_sleep_hold_en();//EN pin held low in deep sleep
+
+
+    //turn off all LEDs
+    LED.brightness = 0;
+    LED.led_function();
+    LED.setPixels();
+
+    esp_deep_sleep_start();
+  }
+
+  else{
+
+  //timer for bluetooth route update at startup
+  if (millis() < ROUTE_UPLOAD_TIMEOUT && rroute == false)
+  {
+    Serial.println("In route receive mode");
+    //rroute = false;
+    receive_route();
+    //update route variables at the end before leaving this statement
+    update_route_vars();
+  }
+
+  //normal arm warmer functionality after bluetooth route udpate
+  else{
+
+
+    //debug for checking if route variables have been correctly updated
+    //--REMOVE LATER
+    /*Serial.println(NUM_COORDS);
+    Serial.println(WAYPOINT_DISTANCE);
+    Serial.println(WAYPOINT_RADIUS);
+    Serial.println(EEPROM.readFloat(eepromAddr_BT),7);
+    eepromAddr_BT+=4;
+    if (eepromAddr_BT == 4092) eepromAddr_BT = 0;*/
+
+  echoCheckGPS();//function necessary in loop for working GPS - gps_helper.cpp
+  
+  //LED Library -
+    //0 - progress bar
+    //1 - pace
+    //2 - compass
+    //3 - battery indicator
+    //4 - no fix
+    //5 - off track led (for a different colour scheme from the compass)
+
+    //testing LEDs without GPS fix
+    /*modes = 2;
+    input += 0.5;
+    if (input > 99.5) input =0;
+    delay(500);*/
+    
+    /*modes = 0;
+    input += 10;
+    if (input > 100) input = 0;
+    delay(1000);*/
+
+    //modes = 1;
+    //input = northHeading;
+
+  //LED modes moved to end of LOOP
+
+
+  // Read the state of the capacitive touch board
+  //touch sensor detection runs faster than the rest of the code
+  if(millis()-button_timer > 10){
+    button_timer = millis();
+
+
+    touchSensorState = digitalRead(TOUCH_SENSOR);
+
+  
+    if(touchSensorState){
+      press = true;
+      Serial.println("----------------press true");
+    }
+    else{
+      if (millis() - hold_counter > HOLD_DELAY_S*1000){
+        LED_on = !LED_on;
+        Serial.println("----------------holding else");
+      }
+      else if (!tapping && millis() - hold_counter > 20){
+            tapping = true;
+            tap_cooldown = millis();
+            modes += 1;
+            if (modes > 4) modes = 0;
+            LED_timer = millis();
+            Serial.println("----------------tapping else");
+      }
+      hold_counter = millis();
+      Serial.println("----------------reset hold counter");
+    }
+
+
+
+      if(!LED_on)
+        LED.brightness = 0;
+      else
+        LED.brightness = BRIGHTNESS;
+
+
+      if(millis() - tap_cooldown > 500){
+      tapping = false;
+      }
+    }
+
+/*  
+  if (touchSensorState)
+  {
+    delay(200);
+    modes += 1;
+    if (modes > 4) modes = 0;
+
+    LED_timer = millis(); //Start LED mode timer
+  }*/
+
+  // 1Hz loop
+  if (millis() - timer > 1000) {
+    timer = millis(); // reset the timer
+
+
+    northHeading = getHeading();//store north in global variable
+    //NO FIX? -- only prints out compass heading
+    s.print("Compass heading: ");
+    s.println(northHeading);
+    Serial.print("Compass heading: ");
+    Serial.println(northHeading);
+
+    //off track heading to north from b16 debugging
+    /*
+    offTrackHeading = offTrackWaypointDirection();
+    Serial.print("Off track heading to north:");
+    Serial.println(offTrackHeading);
+    s.print("Off track heading to north:");
+    s.println(offTrackHeading);
+    */
+
+    Serial.println(GPSFIX());
+    s.println(GPSFIX());
+    Serial.println(modes);
+    s.println(modes);
+
+    if (GPSFIX()) {
+
+      //populates global variables with addresses +-1 around current address, for off-track checking
+      generateOffsetAddressIndices();
+
+      //moved to calculateWaypointPace function
+      /*speed = speedGPS(); //in knots!!
+      pace = speedGPS()*KNOTS_TO_MINKM; //in mins/km after conversion factor*/
+      
+      calculateWaypointPace();//updates speed and pace global variables accordingly
+
+      latitude = getLat();
+      longitude = getLon();
+      
+      updateProgress();
+
+      nextCheckpointDistance = haversine(latitude, longitude,EEPROM.readFloat((eepromAddr_i*8) + 4 + 8), EEPROM.readFloat((eepromAddr_i*8) + 8) );
+      waypointHeading = nextWaypointDirection();
+      offTrackHeading = offTrackWaypointDirection();
+      
+      //PRINTING AND DEBUGGING FUNCTIONS
+      if (DEBUG)
+      {
+        serialPrintData();
+        serialDataBL();
+      }
+
+      //Check off route--------------------------------------------------------------------------------------------------------------
+      checkOffRoute();
+      
+      if(isOffRoute){
+        Serial.println("!!!WARNING!!!!!!! - change code to print off-track on Serial");
+        s.println("!!!!!!!!!!!!!!!!!!!!WARNING!!!!!!!!!!!!!!!!!!!!!!");
+        s.println("Distance to latest checkpoint: ");
+        s.println(haversine(latitude, longitude,EEPROM.readFloat((offset_Addr_i[1]*8) + 4), EEPROM.readFloat((offset_Addr_i[1]*8))), 7);
+        s.print("Direction to destination: ");
+        s.println(offTrackWaypointDirection(), 10);
+      }
+
+    }
+
+
+    //RUN WHEN NO GPS FIX - MAINLY FOR LED NO FIX INDICATOR WITH DELAYS
+    else
+    {
+      //Toggle No Fix Indicator if GPS has no fix
+      //Increased delays in this if statement should be fine - Arm Warmer is not operational with no fix
+        if ((millis() - LED_FIX_timer > LED_FIX_TIMEOUT))
+        {
+          LED.modes = 5; //change mode to NO FIX indicator
+
+          LED.input = 0; //Displays "NO"
+          LED.led_function();
+          LED.setPixels();
+          delay(750); //Display for 1 second
+          
+          LED.input = 1; //Displays "FIX"
+          LED.led_function();
+          LED.setPixels();
+          delay(750); //Display for 1 second
+
+          LED_FIX_timer = millis(); //Reset LED_FIX timer
+        }
+      //LED mode selection below will find the correct desired mode afterwards
+    }
+
+  }
+
+  //--> MAIN LED MODES
+  if (modes == 0) input = progress;
+  else if (modes == 1) input = pace;
+  else if (modes == 2) input = northHeading;//CHANGE BACK TO waypointHeading!!
+  else if (modes == 3) input = waypointHeading;//CHANGE BACK TO northHeading
+  else if (modes == 4) input = vBat;
+  else if (modes == 5) input = 0;
+  else if (modes == 6) input = offTrackHeading;
+  else input = progress;
+
+
+  //Print battery level when toggled to
+  if (modes == 4)
+  {
+    readBatLevel();
+    
+    Serial.print("Displaying battery level: ");
+    Serial.println(vBat);
+    s.print("Displaying battery level: ");
+    s.println(vBat);
+  }
+
+
+
+  //Revert back to progress bar when LED Timer expires
+  if (millis() - LED_timer > LED_TIMEOUT) 
+  {
+    LED_timer = millis(); //Reset LED timer
+
+    //default to off-track when off-route
+    //COMMENT OUT THIS SECTION FOR TESTING PURPOSES WITH INVALID ROUTE
+    if (isOffRoute == true)
+    {
+      modes = 6;
+      input = offTrackHeading;
+    }
+    //default to progress bar if on route
+    else
+    {
+    modes = 0;
+    input = progress;
+    }
+  }
+
+  //only update LEDs every LED_REFRESH_DELAY (500ms) defined above
+  if (millis() - LED_REFRESH_TIMER > LED_REFRESH_DELAY) 
+  {
+    LED_REFRESH_TIMER = millis(); //Reset LED timer
+  //Assign variables in LED object to global variables being set in our main file in every loop
+  LED.modes = modes;
+  LED.input = input;
+
+  //Serial.println("Displaying on LEDs.");
+
+  //display on LEDs -- I put it here for now because I'm not sure if LEDs should refresh only after the 1Hz loop
+  LED.led_function();
+  LED.setPixels();
+  }
+
+  }
+  }
+
+  //TESTING CODE DELAYS FOR BUGGY LED GLITCHES THAT DO NOT HAPPEN IN STARTUP BAT INDICATOR AND NO FIX4
+  //MINIMUM delay of 200 required for decently no glitching
+  //-------------------------
+  //delay(200);
+
+}
+
+//FUNCTION TO READ BATTERY LEVEL THROUGH A0/IO36
+void readBatLevel()
+{
+  float reading = analogRead(VBAT_PIN);
+  Serial.println(reading);
+  s.println(reading);
+  //Add battery conversion code here and finally update vBat
+
+  //reading = ((reading/4095.0)*3.3)*2.0; // reading in volts - NO NEED WORKING WITH DIRECT READING
+
+  //battery voltage is from 3.87 to 3.55V cut-off
+  //translates to 2405 to 2200 analog reading
+  vBat = map(reading, 2200, 2405, 0, 100);
+
+  //Debug prints
+  //Serial.print("vbat after mapping:");
+  //Serial.println(vBat);
+
+  //making sure input is 0-100
+  if (vBat > 100) vBat = 100;
+  if (vBat <= 0) 
+  {
+    vBat = 0;
+    vBatCutoff = true;//cut-off voltage reached.. send arm warmer to deep sleep
+    Serial.println("Battery low, Arm Warmer will go into deep sleep.");
+    s.println("Battery low, Arm Warmer will go into deep sleep.");
+  }
+}
+
+//WARNING - WAYPOINT _RADIUS == WAYPOINT_DISTANCE - FOR THE CODE TO WORK CORRECTLY
+void calculateWaypointPace()
+{
+  if (eepromAddr_i >= 2 && newCheckpointFlag == true) //start recording time and pace from 3rd checkpoint onwards
+  {
+    newCheckpointFlag = false;
+    if (checkpointFirstFlag == true)
+    {
+      waypointStartTime = millis();
+      checkpointFirstFlag = false;
+    }
+    waypointTime = millis() - waypointStartTime;
+    
+    speed = ((eepromAddr_i - 2)*WAYPOINT_RADIUS)/(waypointTime/1000.0); //speed in m/s
+    pace = speed * MS_TO_MINKM;
+
+    //conversion to minutes.seconds / kilometer
+
+    double pace_calc = (double) pace;//convert to double
+
+    //make 2 decimal places
+    pace_calc = (int) (pace_calc * 100 + .5);
+    pace_calc =  (double) pace_calc / 100;
+
+    //separt integer and fractional parts
+    double pace_intpart = 0;
+    double pace_fractional =  modf(pace_calc, &pace_intpart);
+
+    //convert fractional parts to seconds and decimal point value
+    //add seconds decimal to minutes int
+    pace_fractional = (pace_fractional*60)/100.0;
+    pace_calc = pace_intpart+pace_fractional;
+
+    //recast back to float for consistency
+    pace = (float) pace_calc;
+  }
+
+  else
+  {
+    speed = speedGPS(); //in knots!!
+    pace = speedGPS()*KNOTS_TO_MINKM; //in mins/km after conversion factor
+  }  
+
+}
+
+//-----------------------------------------------------------------------------------------------------
+void setupEEPROM(){
+  EEPROM.begin(EEPROM_SIZE);
+  //waypointTracker unused everywhere else so permanently commented out
+  //for (uint16_t i=0; i<NUM_COORDS; i++) waypointTracker[i] = false;
+
+  eepromAddr_i = EEPROM_START_ADDR; //Should be 0
+  eepromAddrNext_i = eepromAddr_i + 1; //keeps track of the next eeprom address for when the checkpoint changes
+  //time_ = millis(); not used for speed anymore
+}
+
+void updateProgress(){
+    if (haversine(latitude, longitude, EEPROM.readFloat((offset_Addr_i[1]*8)+4), EEPROM.readFloat((offset_Addr_i[1]*8))) < WAYPOINT_RADIUS){
+        eepromAddr_i += 1;
+        if(DEBUG){
+          s.println("!!New checkpoint reached!!");
+        }
+    }
+
+    progress =  (float(eepromAddr_i) / float(NUM_COORDS-1))*100.0 ; //progress is a uint variable, floats get rounded up
+
+    newCheckpointFlag = true;
+}
+
+void checkOffRoute(){
+   //Check distance between current the 3 coordinates
+      checkpoint_distance[0] = haversine(latitude, longitude, EEPROM.readFloat((offset_Addr_i[0]*8) + 4), EEPROM.readFloat((offset_Addr_i[0]*8) + 0));
+      checkpoint_distance[1] = haversine(latitude, longitude, EEPROM.readFloat((eepromAddr_i*8)  + 4), EEPROM.readFloat((eepromAddr_i*8)  + 0));
+      checkpoint_distance[2] = haversine(latitude, longitude, EEPROM.readFloat((offset_Addr_i[1]*8) + 4), EEPROM.readFloat((offset_Addr_i[1]*8) + 0));
+
+      //Conditions for off route
+      if((checkpoint_distance[0] > WAYPOINT_RADIUS) && (checkpoint_distance[1] > WAYPOINT_RADIUS) && (checkpoint_distance[2] > WAYPOINT_RADIUS)){
+        isOffRoute = true;
+      }
+      else{
+        isOffRoute = false;
+      }
+}
+
+//uses tilt-compensated compass heading from compass_helper with EEPROM coords
+//to get heading to next waypoint on the route
+float nextWaypointDirection()
+{
+  float x = cos(EEPROM.readFloat((eepromAddr_i*8) + 4))*sin(EEPROM.readFloat((eepromAddr_i*8)) - longitude); 
+  float y = (cos(latitude)*sin(EEPROM.readFloat((eepromAddr_i*8) + 4))) - (sin(latitude)*cos(EEPROM.readFloat((eepromAddr_i*8) + 4))*cos(EEPROM.readFloat((eepromAddr_i*8)) - longitude));  
+  float angle2 = atan2(x, y) * (180/M_PI);
+
+  float direction_angle2 = guidingHeading() + angle2;
+  if (direction_angle2 > 360) direction_angle2 -= 360;
+  if (direction_angle2 < 0) direction_angle2 += 360;
+
+  return direction_angle2;
+}
+
+//uses tilt-compensated compass heading from compass_helper with EEPROM coords
+//points in direction to get back on the route to the last eeprom checkpoint
+float offTrackWaypointDirection()
+{
+  //testing coords 50.93874184262542, -1.3850849314765095
+  //float lon_test = -1.3850849314765095;
+  //float lat_test = 50.93874184262542;
+  //float x = cos(lat_test)*sin(lon_test - longitude);
+  //float y = (cos(latitude)*sin(lat_test)) - (sin(latitude)*cos(lat_test)*cos(lon_test - longitude));
+
+  float x = cos(EEPROM.readFloat((eepromAddr_i*8) + 4))*sin(EEPROM.readFloat((eepromAddr_i*8)) - longitude); 
+  float y = (cos(latitude)*sin(EEPROM.readFloat((eepromAddr_i*8) + 4))) - (sin(latitude)*cos(EEPROM.readFloat((eepromAddr_i*8) + 4))*cos(EEPROM.readFloat((eepromAddr_i*8)) - longitude));  
+  float angle2 = atan2(x, y) * (180/M_PI);
+
+  float direction_angle2 = guidingHeading() + angle2;
+  if (direction_angle2 > 360) direction_angle2 -= 360;
+  if (direction_angle2 < 0) direction_angle2 += 360;
+
+  return direction_angle2;
+}
+
+void generateOffsetAddressIndices()
+{
+  //Generate index around current address index-----------------------------------------------------------
+  //  previous
+  if(eepromAddr_i == 0){   //prevent array index = negative
+    offset_Addr_i[0] = 0;
+    offset_Addr_i[1] = 0;
+  }
+  else{
+    offset_Addr_i[0] = eepromAddr_i - 1;
+  }
+
+  // next
+  if(eepromAddr_i == NUM_COORDS-1){   //prevent array index beyond array size
+    offset_Addr_i[1] = NUM_COORDS-1;
+  }
+  else{
+    offset_Addr_i[1] = eepromAddr_i + 1;
+  }
+}
+
+/*
+Method to print the reason by which ESP32
+has been awaken from sleep
+*/
+void print_wakeup_reason(){
+  esp_sleep_wakeup_cause_t wakeup_reason;
+
+  wakeup_reason = esp_sleep_get_wakeup_cause();
+
+  switch(wakeup_reason)
+  {
+    case ESP_SLEEP_WAKEUP_EXT0 : Serial.println("Wakeup caused by external signal using RTC_IO"); break;
+    case ESP_SLEEP_WAKEUP_EXT1 : Serial.println("Wakeup caused by external signal using RTC_CNTL"); break;
+    case ESP_SLEEP_WAKEUP_TIMER : Serial.println("Wakeup caused by timer"); break;
+    case ESP_SLEEP_WAKEUP_TOUCHPAD : Serial.println("Wakeup caused by touchpad"); break;
+    case ESP_SLEEP_WAKEUP_ULP : Serial.println("Wakeup caused by ULP program"); break;
+    default : Serial.printf("Wakeup was not caused by deep sleep: %d\n",wakeup_reason); break;
+  }
+}
+
+//route variable update function - new in v5.0
+void update_route_vars()
+{
+  NUM_COORDS = EEPROM.readFloat(NUM_COORDS_EEPROM);
+  WAYPOINT_DISTANCE = EEPROM.readFloat(WAYPOINT_DISTANCE_EEPROM);
+  WAYPOINT_RADIUS = EEPROM.readFloat(WAYPOINT_RADIUS_EEPROM);
+}
+
+//receive route through bluetooth at startup - new in v5.0
+void receive_route()
+{
+  if(s.available()){
+    b = s.parseFloat();
+    Serial.println(b,6);
+    if (b > 0.00 && b < 0.002)//0.001
+    {
+      while (1)
+      {
+        if(s.available()){
+        b = s.parseFloat();
+        Serial.println(b,6);
+        counter++;
+        rroute = true;
+
+        EEPROM.writeFloat( eepromAddr_BT , b );
+        eepromAddr_BT+=4;
+
+        //0.002 - python sending waypoint data now
+         if (b > 0.001 && b < 0.003) 
+         {
+          counter-=1;//discounts extra 0.002 reading
+          EEPROM.commit();
+          eepromAddr_BT = 0;
+          break;
+         }
+
+        //this condition does not execute because rroute is always true in these brackets
+        /*if ((millis()>ROUTE_UPLOAD_TIMEOUT && rroute == false))
+        {
+          Serial.println("Exit route receive mode.");
+
+          Serial.println(counter);
+          break;
+        }*/
+
+      }
+
+      }
+
+      while(1)
+      {
+        if(s.available()){
+        b = s.parseFloat();
+        Serial.println(b);
+
+        //0-num waypoints, 1-waypoint distance, 2-waypoint radius
+        if(waypointDataCounter == 0) EEPROM.writeFloat( NUM_COORDS_EEPROM , b );
+        else if (waypointDataCounter == 1) EEPROM.writeFloat( WAYPOINT_DISTANCE_EEPROM , b );
+        else if (waypointDataCounter == 2) EEPROM.writeFloat( WAYPOINT_RADIUS_EEPROM , b );
+
+        waypointDataCounter++;
+
+        if ((b > 0.00 && b < 0.002) || (millis()>ROUTE_UPLOAD_TIMEOUT && rroute == false))
+        {
+          Serial.println("Exit route receive mode.");
+          Serial.println(counter);
+
+          //commit EEPROM changes
+          EEPROM.commit();
+          break;
+        }
+      }
+      
+    }
+  
+  
+}
+  }
+}
+
+void serialPrintData()
+{
+  Serial.println("--------------------------------------------------------------------");
+
+  Serial.print("LED Mode: ");
+  Serial.println(modes);
+
+  Serial.print("Progress: ");
+  Serial.println(progress);
+
+  Serial.print("Speed (Knots): ");
+  Serial.println(speed, 10);
+  Serial.print("Pace (mins/km): ");
+  Serial.println(pace, 10);
+
+  Serial.print("EEPROM Address: ");
+  Serial.println(eepromAddr_i);
+
+  Serial.print("Location: ");
+  Serial.print(latitude, 10);
+  Serial.print(", ");      
+  Serial.println(longitude, 10);
+
+  Serial.print("Current checkpoint: ");
+  Serial.print(EEPROM.readFloat((eepromAddr_i*8) + 4), 10);
+  Serial.print(", ");
+  Serial.println(EEPROM.readFloat((eepromAddr_i*8)), 10);
+
+  Serial.print("Next checkpoint: ");
+  Serial.print(EEPROM.readFloat((eepromAddr_i*8) + 4), 10);
+  Serial.print(", ");
+  Serial.println(EEPROM.readFloat((eepromAddr_i*8)), 10);
+
+  Serial.print("Distance to next checkpoint: ");
+  Serial.println(nextCheckpointDistance, 7);
+
+  Serial.print("Direction to next checkpoint: ");
+  Serial.println(nextWaypointDirection(), 7);
+
+  Serial.print("Heading to North: ");      
+  Serial.println(northHeading);
+
+  Serial.println("--------------------------------------------------------------------");
+
+}
+
+void serialDataBL()
+{
+  s.println("--------------------------------------------------------------------");
+
+  s.print("LED Mode: ");
+  s.println(modes);
+
+  s.print("Progress: ");
+  s.println(progress);
+
+  s.print("Speed (Knots): ");
+  s.println(speed, 10);
+  s.print("Pace (mins/km): ");
+  s.println(pace, 10);
+
+  s.print("EEPROM Address: ");
+  s.println(eepromAddr_i);
+
+  s.print("Location: ");
+  s.print(latitude, 10);
+  s.print(", ");      
+  s.println(longitude, 10);
+
+  s.print("Current checkpoint: ");
+  s.print(EEPROM.readFloat((eepromAddr_i*8) + 4), 10);
+  s.print(", ");
+  s.println(EEPROM.readFloat((eepromAddr_i*8)), 10);
+
+  s.print("Next checkpoint: ");
+  s.print(EEPROM.readFloat((eepromAddr_i*8) + 4), 10);
+  s.print(", ");
+  s.println(EEPROM.readFloat((eepromAddr_i*8)), 10);
+
+  s.print("Distance to next checkpoint: ");
+  s.println(nextCheckpointDistance, 7);
+
+  s.print("Direction to next checkpoint: ");
+  s.println(nextWaypointDirection(), 7);
+
+  s.print("Heading to North: ");      
+  s.println(northHeading);
+
+  s.println("--------------------------------------------------------------------");
+}
\ No newline at end of file
diff --git a/libraries/LED_controller/LED_controller.cpp b/libraries/LED_controller/LED_controller.cpp
index a3043d7623d5ce2e948c03b2d1177289b423d8fc..a12d9a88340adff2428707a866d4f62dc91253c0 100644
--- a/libraries/LED_controller/LED_controller.cpp
+++ b/libraries/LED_controller/LED_controller.cpp
@@ -164,12 +164,12 @@ void LED_controller::led_function(){
     
 	//-----Select colour----120degrees = green--//
 		for(uint8_t i = 0; i < 13; i++){
-			H_digit_1[i] = 120;
-			H_digit_2[i] = 120;
-			H_digit_3[i] = 120;
+			H_digit_1[i] = 300;
+			H_digit_2[i] = 300;
+			H_digit_3[i] = 300;
 		}
-		H_decimal_1 = 120;
-		H_decimal_2 = 120;
+		H_decimal_1 = 300;
+		H_decimal_2 = 300;
 		
 		for(uint8_t i = 0; i < 13; i++){
 			S_digit_1[i] = 1;