Lab 1

Arduino Code:

Situation One:

//  Accelerate motor one from start to 15% power in 2.5 seconds.

celerate(1,0,15,2.5);

// Run motor one at constant speed for 1 second.

goFor(1);

// Brake motor one.

brake(1);

// Accelerate motor two from start to 27% power in 4 seconds.

celerate(2,0,27,4);

// Run motor two at constant speed for 2.7 seconds.

goFor(2.7);

// Decelerate motor two to 15% power in 1 second.

celerate(2,27,15,2);

// Brake motor two.

brake(2);

// Reverse the direction of only motor 2.

reverse(2);

// Accelerate all motors from start to 31% power in 2 seconds.

celerate(4,0,31,2);

// Run all motors at a constant speed (35% power) for 1 second.

motorSpeed(4,35);

goFor(1);

// Brake motor two but keep motor one running at a constant speed for 3 seconds.

brake(2);

motorSpeed(1,35);

goFor(3);

// Brake all motors for 1 second.

brake(4);

// Reverse the direction of motor one.

reverse(1);

// Accelerate motor one from start to 19% power over 2 seconds.

celerate(1,0,19,2);

// Run motor two at 35% power while running motor one at 19% power for 2 seconds.

motorSpeed(2,35);

motorspeed(1,19);

goFor(2);

// Run both motors at a constant speed (19% power) for 2 seconds.

motorSpeed(4,19);

goFor(2);

// Decelerate both motors to 0% power in 3 seconds.

celerate(4,19,0,3);

// Brake all motors.

brake(4);

 

Situation Two:

// Reverse all motors.

reverse(4);

// Power all motors at 25% for .5 seconds.

motorSpeed(4,25);

goFor(.5);

// Brake all motors for .1 seconds.

brake(4);

goFor(.1);

// Repeat steps 2 and 3 a total of 2 times.

motorSpeed(4,25);

goFor(.5);

brake(4);

goFor(.1);

motorSpeed(4,25);

goFor(.5);

brake(4);

goFor(.1);

// Power all motors at 15% power for .3 seconds.

motorSpeed(4,15);

goFor(.3);

// Brake all motors for .05 seconds.

brake(4);

goFor(.05);

// Power all motors at 40% power for .3 second.

motorSpeed(4,40);

goFor(.3);

// Power all motors at 25% power for .5 second.

motorSpeed(4,25);

goFor(.5);

// Power all motors at 15% power for .3 second.

motorSpeed(4,15);

goFor(.3);

// Brake all motors for .05 seconds.

brake(4);

goFor(.05);

// Power all motors at 40% power for .3 second.

motorSpeed(4,40);

goFor(.3);

// Power all motors at 25% power for .5 second.

motorSpeed(4,25);

goFor(.5);

// Brake all motors for .5 seconds.

brake(4);

goFor(.5);

// Power all motors at 55% power for .5 second.

motorSpeed(4,55);

goFor(.5);

// Brake all motors for .1 second.

brake(4);

goFor(.1);

// Repeat steps 14 and 15 a total of 2 times.

motorSpeed(4,55);

goFor(.5);

brake(4);

goFor(.1);

motorSpeed(4,55);

goFor(.5);

brake(4);

goFor(.1);

// Power all motors at 65% power for a total of .3 second.

motorSpeed(4,65);

goFor(.3);

// Brake all motors for .05 seconds.

brake(4);

goFor(.05);

// Power all motors at 40% power for .3 second.

motorSpeed(4,40);

goFor(.3);

// Power all motors at 20% power for .5 second.

motorSpeed(4,20);

goFor(.3);

// Power all motors at 15% power for .3 second.

motorSpeed(4,15);

goFor(.3);

// Brake all motors for .05 seconds.

brake(4);

goFor(.05);

// Power all motors at 40% power for .3 second.

motorSpeed(4,40);

goFor(.3);

// Power all motors at 25% power for .5 second.

motorSpeed(4,25);

goFor(.3);

// Brake all motors.

brake(4);