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);