Lab 1 – Programming Basics:
//accelerate motor 1 for 2.5 seconds
celerate(1,0,15,2.5);
//run motor 1 at 15 percent and go for 1 second
motorSpeed(1,15);
goFor(1);
// brake motor 1
brake(1);
//accelerate motor 2 for 4 seconds
celerate(2,0,27,4);
//run motor 2 at 27 percent for 2.7 seconds
motorSpeed(2,27);
goFor(2.7);
//decelerate motor 2 from 27 to 15 for 1 second
celerate(2,27,15,1);
//brake motor 2
brake(2);
//reverse motor 2
reverse(2);
//accelerate motor 1 and 2 for 2 seconds for 31 percent
celerate(1,0,31,2);
celerate(2,0,31,2);
//go both motors at 35 percent for 1 second
motorSpeed(1,35);
motorSpeed(2,35);
goFor(1);
//brake motor 2
brake(2);
//make motor 1 go for 3 seconds
goFor(3);
//brake motor 1
brake(1);
//brake both motors for 1 and 2
goFor(1);
//reverse motor 1
reverse(1);
//accelerate motor 1 to 19 percent for 2 seconds
celerate(1,0,19,2);
//run motor 2 at 35 percent and motor 1 for 19 percent
motorSpeed(2,35);
motorSpeed(1,19);
//have both go for 2 seconds
goFor(2);
//decelerate both motors to 0
celerate(1,19,0,3);
celerate(2,35,0,3);
//brake both motors
brake(1);
brake(2);
Lab 2 – Reflectance Sensors:
//run motor 1 and 2 at 25% for 2 sec
motorSpeed(1,25);
motorSpeed(2,25);
goFor(2);
//run motor 1 and 2 at 20% for 12 feet aka 70.2 marks
motorSpeed(1,20);
motorSpeed(2,20);
goToAbsolutePosition(70.2);
//reverse motors
reverse(1);
reverse(2);
//run motors at 30% for 1.5 sec
motorSpeed(1,30);
motorSpeed(2,30);
goFor(1.5);
//brake motors
brake(1);
brake(2);
Lab 4 – Data Analysis Tool:
//Accelerate all motors from start to 25% in 3 seconds.
celerate(4, 0, 25, 3);
//Run all motors at a constant speed (25% power) for 1 second.
motorSpeed(4,25);
goFor(1);
//Run all motors at 20% power for 2 seconds.
motorSpeed(4,20);
goFor(2);
//Reverse all motors.
reverse(4);
//Run all motors at a constant speed (25% power) for 2 second.
motorSpeed(4,25);
goFor(2);
//Brake all motors.
brake(4);
Performance Test 1:
//reverse the propellers so that the AEV moves the right direction
reverse(4);
//Set at 30 percent to go for 4.8 seconds
motorSpeed(4,30);
goFor(4.8);
brake(4);
//stop at the gate
goFor(11);
//proceed through the gate
motorSpeed(4,30);
goFor(3);
brake(4);
Performance Test 2:
//reverse the propellers so that the AEV moves the right direction
reverse(4);
//Set at 30 percent to go for 4.8 seconds
motorSpeed(4,35);
goFor(4.7);
brake(4);
//stop at the gate
goFor(11);
//proceed through the gate
motorSpeed(4,30);
goFor(2.53);
brake(4);
goFor(11.5);
reverse(4);
motorSpeed(4,35);
goFor(10);
Final Test:
//reverse the propellors so that the AEV moves the right direction
//reverse(4);
//Set at 30 percent to go for 4.8 seconds
//motorSpeed(4,35);
//goFor(4.5);
//brake(4);
//stop at the gate
//goFor(12);
//proceed through the gate
//motorSpeed(4,30);
//goFor(3.25);
//Stop in loading zone for 5 seconds
//brake(4);
//goFor(11.5);
//reverse motors to leave loading zone
//reverse(4);
//motorSpeed(4,40);
//goFor(10);
//brake at the sensor and wait to open
//brake(4);
//goFor(9);
//Go through the gate
//motorSpeed(4,40);
//goFor(5);
//brake(4);