Week 3 Code

Week 3 Code

reflectanceSensorTest();

/*

celerate(1,0,15,2.5);  //Accelerate Motor 1 from start to 15% power in 2.5s

motorSpeed(1,15);  //Set Motor 1 speed to Motor one for 15%

goFor(1);  //Run Motor 1 for 1s

celerate(2,0,27,4);  //Accelerate Motor 2 from start to 27% power in 4s

motorSpeed(2,27);  //Set Motor 2 speed to Motor one for 27%

goFor(2.7);  //Run Motor 2 for 2.7s

celerate(2,27,15,1);  //Decelerate Motor 2 from 27% battery power to 15% power in //1s

brake(2);  //Cut power to Motor 2

reverse(2);  //Reverse the direction of Motor 2

celerate(4,0,21,2);  //Accelerate all Motors from rest to 21% battery power in 2s

motorSpeed(4,35);  //Set all Motor speeds to 35% battery power

brake(2);  //Cut power to Motor 2

motorSpeed(1,35);  //Set Motor speed 1 to 35%

goFor(3);  //Run Motor 1 for 3s

brake(1);  //Cut power to Motor 1

brake(2);  //Cut power to Motor 2

reverse(1);  //Reverse the direction of Motor 1

celerate(1,0,19,2);  //Accelerate Motor 1 from rest to 19% battery power in 2s

motorSpeed(2,35);  //Set Motor 2 speed to 35% battery power

goFor(2); //Run Motor 2 for 2s

motorSpeed(1,19);  //Set Motor 1 speed to 19% battery power

goFor(2);  //Run Motor 1 for 2s

motorSpeed(4, 19);  //Set all Motor speeds to 19% battery power

goFor(2);  //Run all motors for 2s

celerate(4,19,0,3);  //Decelerate all motors from 19% battery power to 0% battery //power in 3s

brake(1);  //Cut power to Motor 1

brake(2);  //Cut power to Motor 2

*/

}

Comments: The code appears to be executed correctly as values of distance are obtained from the reflectance sensor test. The values are negative when the AEV travels forward suggesting that the sensors will have to be flipped to obtain positive distance values. It will be essential to understand the function calls regarding distance moving forward to program the AEV to stop at the gate.