Exercise 2 pR&D
// Reverses all motors and sets them at 25% power for 2 seconds reverse(4); motorSpeed(4,25); goFor(2); // Runs all motors at 20% power until the AEV reaches absolute position 295 (12 ft.) motorSpeed(4,20); goToAbsolutePosition(295.3846); // Reverses all motors and sets them at 30% power for 1.5 seconds reverse(4); motorSpeed(4,30); goFor(1.5); // Brakes all motors brake(4);
Exercise 4 pR&D
// Accelerates all motors from 0% to 25% power over 3 seconds // and runs all motors at 25% power for 1 second celerate(4,0,25,3); goFor(1); // Sets all motors at 20% power for 2 seconds motorSpeed(4,20); goFor(2); // Reverses all motors and then sets them at 25% power for 2 seconds reverse(4); motorSpeed(4,25); goFor(2); // Brakes all motors brake(4);
Test Code
// Sets all motors at 40% power until the AEV reaches relative position 295 (12 ft.) motorSpeed(4,40); goToRelativePosition(295.38); // Brakes all motors brake(4);
Advanced R&D 2 Braking Methods (Wind Tunnel AEV)
// Reverses motor 2 and runs all motors at 40% power // until the AEV reaches relative position 147.69 (6 ft.) reverse(2); motorSpeed(4,40); goToRelativePosition(147.69); // Reverses all motors and sets them at 40% power for 2 seconds reverse(4); motorSpeed(4,40); goFor(2); // Brakes all motors brake(4);
Advanced R&D 2 Braking Methods (Servo AEV)
// Reverses motor 2 and runs all motors at 40% power // until the AEV reaches relative position 147.69 (6 ft.) reverse(2); motorSpeed(4,40); goToRelativePosition(147.69); // Rotates the servo 35 degrees rotateServo(35); // Brakes all motors brake(4);
Performance Test 1 Code
// Reverses motor 1 and runs all motors at 40% power // until the AEV reaches relative position 248 reverse(1); motorSpeed(4,40); goToRelativePosition(248); // Reverses all motors and sets them at 70% power for 0.8 seconds // to brake the AEV in front of the gate reverse(4); motorSpeed(4,70); goFor(0.8); // Sets all motors at 0% power to stop the AEV in front of the gate for 7 seconds motorSpeed(4,0); goFor(7); // Reverses all motors and sets them at 40% power for 2 seconds reverse(4); motorSpeed(4,40); goFor(2); // Brakes all motors brake(4);
Performance Test 2 Code
// Reverses motor 1 and runs all motors at 40% power // until the AEV reaches relative position 248 reverse(1); motorSpeed(4,40); goToRelativePosition(248); // Reverses all motors and sets them at 70% power for 0.8 seconds // to brake the AEV in front of the gate reverse(4); motorSpeed(4,70); goFor(0.8); // Sets all motors at 0% power to stop the AEV in front of the gate for 7 seconds motorSpeed(4,0); goFor(7); // Reverses all motors and sets them at 40% power until the AEV reaches relative position 230 reverse(4); motorSpeed(4,40); goToRelativePosition(230); // Reverses all motors and sets them at 60% power for 1.1 seconds // to brake the AEV enough to gently connect with the caboose reverse(4); motorSpeed(4,60); goFor(1.1); // Sets all motors at 0% power to stop the AEV with the caboose for 8 seconds motorSpeed(4,0); goFor(8); // Sets all motors at 40% power for 2 seconds to exit the loading zone motorSpeed(4,40); goFor(2); // Brakes all motors brake(4);
Final Performance Test 1 Code
// Reverses motor 1 and runs all motors at 40% power // until the AEV reaches relative position 246 reverse(1); motorSpeed(4,40); goToRelativePosition(246); // Reverses all motors and sets them at 70% power for 0.8 seconds // to brake the AEV in front of the gate reverse(4); motorSpeed(4,70); goFor(0.8); // Sets all motors at 0% power to stop the AEV in front of the gate for 7 seconds motorSpeed(4,0); goFor(7); // Reverses all motors and sets them at 40% power // until the AEV reaches relative position 230 reverse(4); motorSpeed(4,40); goToRelativePosition(230); // Reverses all motors and sets them at 60% power for 1.1 seconds // to brake the AEV enough to gently connect with the caboose reverse(4); motorSpeed(4,60); goFor(1.1); // Sets all motors at 0% power to stop the AEV with the caboose for 6 seconds motorSpeed(4,0); goFor(6); // Sets all motors at 50% power until the AEV with the caboose // reaches relative position -228 motorSpeed(4,50); goToRelativePosition(-228); // Reverses all motors and sets them at 70% power for 1.5 seconds // to brake the AEV with the caboose in front of the gate reverse(4); motorSpeed(4,70); goFor(1.5); // Sets all motors at 0% power to stop the AEV with the caboose for 7 seconds motorSpeed(4,0); goFor(7); // Reverses all motors and sets them at 50% power // until the AEV with the caboose reaches relative position -72 reverse(4); motorSpeed(4,50); goToRelativePosition(-72); // Sets all motors at 0% power until the AEV with the caboose // reaches relative position -255 motorSpeed(4,0); goToRelativePosition(-255); // Reverses all motors and sets them at 55% power for 1 second // to brake the AEV with the caboose in the starting dock reverse(4); motorSpeed(4,55); goFor(1); // Brakes all motors brake(4);
Final Performance Test 2 Code
// Reverses motor 1 and runs all motors at 40% power // until the AEV reaches relative position 246 reverse(1); motorSpeed(4,40); goToRelativePosition(246); // Reverses all motors and sets them at 70% power for 0.8 seconds // to brake the AEV in front of the gate reverse(4); motorSpeed(4,70); goFor(0.8); // Sets all motors at 0% power to stop the AEV in front of the gate for 7 seconds motorSpeed(4,0); goFor(7); // Reverses all motors and sets them at 40% power // until the AEV reaches relative position 230 reverse(4); motorSpeed(4,40); goToRelativePosition(230); // Reverses all motors and sets them at 60% power for 1.1 seconds // to brake the AEV enough to gently connect with the caboose reverse(4); motorSpeed(4,60); goFor(1.1); // Sets all motors at 0% power to stop the AEV with the caboose for 6 seconds motorSpeed(4,0); goFor(6); // Sets all motors at 50% power until the AEV with the caboose // reaches relative position -228 motorSpeed(4,50); goToRelativePosition(-228); // Reverses all motors and sets them at 70% power for 1.5 seconds // to brake the AEV with the caboose in front of the gate reverse(4); motorSpeed(4,70); goFor(1.5); // Sets all motors at 0% power to stop the AEV with the caboose for 7 seconds motorSpeed(4,0); goFor(7); // Reverses all motors and sets them at 50% power // until the AEV with the caboose reaches relative position -72 reverse(4); motorSpeed(4,50); goToRelativePosition(-72); // Sets all motors at 0% power until the AEV with the caboose // reaches relative position -250 motorSpeed(4,0); goToRelativePosition(-250); // Reverses all motors and sets them at 55% power for 1 second // to brake the AEV with the caboose in the starting dock reverse(4); motorSpeed(4,55); goFor(1); // Brakes all motors brake(4);
Final Performance Test 3 and Wind Tunnel Test Code
// Reverses motor 1 and runs all motors at 40% power // until the AEV reaches relative position 246 reverse(1); motorSpeed(4,40); goToRelativePosition(246); // Reverses all motors and sets them at 70% power for 0.8 seconds // to brake the AEV in front of the gate reverse(4); motorSpeed(4,70); goFor(0.8); // Sets all motors at 0% power to stop the AEV in front of the gate for 7 seconds motorSpeed(4,0); goFor(7); // Reverses all motors and sets them at 40% power // until the AEV reaches relative position 225 reverse(4); motorSpeed(4,40); goToRelativePosition(225); // Reverses all motors and sets them at 60% power for 1.1 seconds // to brake the AEV enough to gently connect with the caboose reverse(4); motorSpeed(4,60); goFor(1.1); // Sets all motors at 0% power to stop the AEV with the caboose for 6 seconds motorSpeed(4,0); goFor(6); // Sets all motors at 50% power until the AEV with the caboose // reaches relative position -228 motorSpeed(4,50); goToRelativePosition(-228); // Reverses all motors and sets them at 70% power for 1.4 seconds // to brake the AEV with the caboose in front of the gate reverse(4); motorSpeed(4,70); goFor(1.4); // Sets all motors at 0% power to stop the AEV with the caboose for 8 seconds motorSpeed(4,0); goFor(8); // Reverses all motors and sets them at 50% power // until the AEV with the caboose reaches relative position -72 reverse(4); motorSpeed(4,50); goToRelativePosition(-72); // Sets all motors at 0% power until the AEV with the caboose // reaches relative position -250 motorSpeed(4,0); goToRelativePosition(-250); // Reverses all motors and sets them at 57% power for 1 second // to brake the AEV with the caboose in the starting dock reverse(4); motorSpeed(4,57); goFor(1); // Brakes all motors brake(4);