Lab 1 Code
celerate(1,0,15,2.5); // motor 1 to 15% in 2.5s
motorSpeed(1,15); // motor 1 at 15%
goFor(1);//runs for 1 sec
brake(1); //brakes motor 1
celerate(2,0,27,4); //motor 2 to 27% in 4s
motorSpeed(2,27); // motor 2 at 27%
goFor(2.7);//runs for 2.7s
celerate(2,27,15,1); Decelerate motor 2 from 27 to 15 in 1 second
brake(2); // brakes motor 2
reverse(2); //reverse direction of motor 2
celerate(4,0,31,2); // all motors to 31% in 2s
motorSpeed(4,35); //all motors to 35%
goFor(1); // 1 second
brake(2); //brakes motor 2
motorSpeed(1,35); // motor 1 to 35%
goFor(3); // 3 second
brake(4); //brakes all
goFor(1); // for 1 second
reverse(1); //reverses motor 1
celerate(1,0,19,2); // motor 1 to 19% for 2 seconds
motorSpeed(2,35); //2 motor to 35%
motorSpeed(1,19); // 1 motor to 19%
goFor(2); // 2 seconds
motorSpeed(1,19); //1 motor to 19%
motorSpeed(2,19); //2 motor to 19%
goFor(2); // go for 2 seconds
celerate(4,19,0,3); acc from 19-0 in 3
brake(4);//brake all
Lab 2 code
celerate(4,0,25,2); // acc all to 25% in 2 seconds
motorSpeed(4,20); // all motor speed to 20%
goToAbsolutePosition(70.2); // go to 12feet
reverse(4); //reverse all motors
motorSpeed(4,30); //All motors to 30%
goFor(1.5); // Go for 1.5s
brake(4);//Brake all
Lab 4 code:
celerate(4,0,25,3); // acc all motors to 25% in 3 seconds
motorSpeed(4,25); // all motors to 25%
goFor(1); // go for 1 seconds
motorSpeed(4,20); // all motors to 20%
goFor(2); // go for 2 seconds
reverse(4); // all motors reverse
celerate(4,0,25,2); // acc to 25% for 2 seconds
brake(4); // brake all
Code for AR&D:
(motor changes with different tests but the rest of the code stays the same)
reverse(1); //Puts all motors in same direction
reverse(4); //Goes Foward
celerate(4,0,40,2);
motorSpeed(4,40);
goFor(5);
brake(4);
reverse(4); //runs backwards
celerate(4,0,40,3);
motorSpeed(4,40);
goFor(5);
brake(4);
Performance Test 1 Code
reverse(1); //Puts all motors in same direction
reverse(4); //Goes Foward
celerate(4,0,40,1);
motorSpeed(4,40);
goToAbsolutePosition(98);
celerate(4,40,60,1);
motorSpeed(4,60);
goToAbsolutePosition(190);
brake(4);
celerate(4,60,0,1);
goToAbsolutePosition(245);
brake(4);
reverse(4);
celerate(4,0,75,1);
motorSpeed(4,75);
goFor(1);
brake(4);
goFor(7);
Performance Test 2 Code
reverse(1); //Puts all motors in same direction
reverse(4); //Goes Foward
celerate(4,0,30,1);
motorSpeed(4,30);
goToAbsolutePosition(98);
celerate(4,35,35,1);
motorSpeed(4,35);
goToAbsolutePosition(194); //194
brake(4);
goToAbsolutePosition(238); //242 238-242 (Top of hill)
brake(4);
reverse(4);
celerate(4,0,50,.5);
motorSpeed(4,50);
goFor(.5);
brake(4);
goFor(7); //stop sign
reverse(4);
celerate(4,0,26,1); //26-28
motorSpeed(4,26); //26-28
goFor(3.5);
brake(4);
goToAbsolutePosition(580);
goFor(5); //Pick up cart
reverse(4);
celerate(4,0,40,1);
goToAbsolutePosition(390); //340 350 360 380 *390*
brake(4);
reverse(4);
celerate(4,0,60,.5);
motorSpeed(4,60);
goFor(.5);
brake(4);
reverse(4);
goFor(7); //Stop sign
Final Performance test 1 Code
//Reflective tests
reverse(1); //Puts all motors in same direction
reverse(4); //Goes Foward
celerate(4,0,30,1);
motorSpeed(4,30);
goToAbsolutePosition(98);
celerate(4,35,35,1);
motorSpeed(4,35);
goToAbsolutePosition(194); //194
brake(4);
goToAbsolutePosition(246); //242 238-242 (Top of hill) 244
brake(4);
reverse(4);
celerate(4,0,50,.5);
motorSpeed(4,50);
goFor(.5);
brake(4);
goFor(7); //stop sign
reverse(4);
celerate(4,0,26,1); //23 26-28
motorSpeed(4,26); //23 26-28
goFor(3.5);
brake(4);
goToAbsolutePosition(580);
goFor(5); //Pick up cart
reverse(4);
celerate(4,0,42,1); //*40* 45 50 47 42
goToAbsolutePosition(400); //340 350 360 380 *390* 395
brake(4);
reverse(4);
celerate(4,0,65,.5);//60
motorSpeed(4,65);//60
goFor(.5);
brake(4);
reverse(4);
goFor(7); //Stop sign
celerate(4,0,70,.5);
goFor(2);
brake(4);
//motorSpeed(4,25);
goToAbsolutePosition(194);
brake(4);
goToAbsolutePosition(132); //98 120 130 *135* (Back to start)
reverse(4);
celerate(4,0,80,.5);
motorSpeed(4,80);
goFor(.5);
brake(4);
—
reverse(1); //Puts all motors in same direction
reverse(4); //Goes Foward
celerate(4,0,30,1);
motorSpeed(4,30);
goToAbsolutePosition(98);
celerate(4,35,35,1);
motorSpeed(4,35);
goToAbsolutePosition(194); //194
brake(4);
goToAbsolutePosition(246); //242 238-242 (Top of hill) 244
brake(4);
reverse(4);
celerate(4,0,50,.5);
motorSpeed(4,50);
goFor(.5);
brake(4);
goFor(7); //stop sign
reverse(4);
celerate(4,0,26,1); //23 26-28
motorSpeed(4,26); //23 26-28
goFor(3.5);
brake(4);
goToAbsolutePosition(580);
goFor(5); //Pick up cart
reverse(4);
celerate(4,0,42,1); //*40* 45 50 47 42
goToAbsolutePosition(400); //340 350 360 380 *390* 395
brake(4);
reverse(4);
celerate(4,0,65,.5);//60
motorSpeed(4,65);//60
goFor(.5);
brake(4);
reverse(4);
goFor(7); //Stop sign
celerate(4,0,70,.5);
goFor(2);
brake(4);
//motorSpeed(4,25);
goToAbsolutePosition(194);
brake(4);
goToAbsolutePosition(132); //98 120 130 *135* (Back to start)
reverse(4);
celerate(4,0,80,.5);
motorSpeed(4,80);
goFor(.5);
brake(4);
Final Performance test 2 Code
reverse(1); //Puts all motors in same direction
reverse(4); //Goes Foward
motorSpeed(4,35);
goToAbsolutePosition(98);
motorSpeed(4,40);
goToAbsolutePosition(194); //194
brake(4);
goToAbsolutePosition(270); //242 238-242 246 (Top of hill) 244 294
brake(4);
reverse(4);
motorSpeed(4,65);
goFor(.5);
brake(4);
goFor(7); //stop sign
reverse(4);
//23 26-28
motorSpeed(4,27); //23 26-28
goFor(3.5);
brake(4);
goToAbsolutePosition(580);
goFor(7); //Pick up cart
brake(4);
reverse(4);
motorSpeed(4,45); //*40* 45 50 47 42
goToAbsolutePosition(390); //340 350 360 380 *390* 395 400 ****380***
brake(4);
reverse(4);
//60
motorSpeed(4,80);//60
goFor(.5);
brake(4);
reverse(4);
goFor(7); //Stop sign
celerate(4,0,70,.5);
goFor(2);
brake(4);
//motorSpeed(4,25);
goToAbsolutePosition(194);
brake(4);
goToAbsolutePosition(112); //98 120 130 *135* (Back to start) 132
reverse(4);
celerate(4,0,80,.5);
motorSpeed(4,80);
goFor(.5);
brake(4);