Arduino Code Functions and Descriptions
Preliminary R&D Lab 1 Code:
//Motor one will accelerate from 0% power to 15% power in 2.5 seconds and then run for 1 second and brake the motors
celerate(1,0,15,2.5);
goFor(1);
brake(1);
//Motor two will accelerate from 0% power to 27% power in 4 seconds, then continue running for 2.5 seconds. Then the motors will decelerate from 27% to 15% in one second
celerate(2,0,27,4);
goFor(2.7);
celerate(2,27,15,1);
brake(2);
//The second motor will reverse and accelerate from 0% to 31% in 2 second then quickly jump to 35% power and run there for 1 second. The motor will then brake and the first motor will reverse.
reverse(2);
celerate(2,0,31,2);
motorspeed(2,35);
goFor(1);
brake(2);
goFor(3);
brake(4);
reverse(1);
// The first motor will accelerate from 0% to 19% in two seconds. The second motor will be set to constant 35%, this will last for two seconds. Then motor two will drop down to 19% and run for 2 seconds. Lastly motor two will slow to a stop in 3 seconds and then motor one will be stopped.
celerate(1,0,19,2);
motorSpeed(2,35);
goFor(2);
motorSpeed(2,19);
goFor(2);
celerate(4,19,0,3);
brake(4);
Preliminary R&D Lab 2 Code:
//Both motors will be set to 25% and this will go for 2 seconds, then the motors will be set to 20% power and they will run till they go 295 marks. After that the motors will both stop, reverse, and be set to run for 30% power and be run for 1.5 seconds
motorSpeed(4,25);
goFor(2);
motorSpeed(4,20);
goToAbsolutePosition(295);
brake(4);
reverse(4);
motorSpeed(4,30)
goFor(1.5);
brake(4);
Preliminary R&D Lab 4 Code:
//Both motors will accelerate to 25% power in 3 seconds and run for 1 second after that. The the motors will be set to 20% and run for 2 seconds. Both motors will then brake, reverse, and be set to 25% power and run for 2 seconds, then both motors will be cut off.
celerate(4,0,25,3);
goFor(1);
motorSpeed(4,20);
goFor(2);
brake(4);
reverse(4);
motorSpeed(4,25);
goFor(2);
brake(4);
Advanced R&D – Motor Configuration:
Motor Configuration 1 – 2 in the back
//Both motors at 35% power for 4 seconds.
motorSpeed(4,35);
goFor(4);
Motor Configuration 2 – 2 in the “front”
//Both motors at 35% power for 4 seconds but in reverse.
reverse(4);
motorSpeed(4,35);
goFor(4);
Motor Configuration 3 – One in front and back
//Both motors at 35% power for 4 second but in opposite directions.
reverse(1);
motorSpeed(4,35);
goFor(4);
Performance Test 1
//AEV to gate
reverse(4);
motorSpeed(4,35);
goToAbsolutePosition(-249);
brake(4);
reverse(4);
motorSpeed(4,40);
goFor(1);
brake(4);
goFor(8);
Performance Test 2
//AEV to gate
reverse(4);
motorSpeed(4,35);
goToAbsolutePosition(-249);
brake(4);
reverse(4);
motorSpeed(4,40);
goFor(1);
brake(4);
goFor(8);
//After gate towards cabosse loading zone
reverse(4);
motorSpeed(4,40);
goFor(2.2);
brake(4);
goToAbsolutePosition(-570);
reverse(4);
motorSpeed(4,30);
goFor(.4);
//Waiting after attaching caboose
brake(4);
reverse(4);
goFor(7);
Final Performance Test
//AEV to gate
reverse(4);
motorSpeed(4,35);
goToAbsolutePosition(-249);
brake(4);
reverse(4);
motorSpeed(4,40);
goFor(1);
brake(4);
goFor(8);
//After gate towards cabosse loading zone
reverse(4);
motorSpeed(4,40);
goFor(2.2);
brake(4);
goToAbsolutePosition(-570);
reverse(4);
motorSpeed(4,30);
goFor(.4);
//Waiting after attaching caboose
brake(4);
reverse(4);
goFor(7);
//With caboose towards gate
reverse(4);
motorSpeed(4,40);
goToRelativePosition(212);
brake(4);
reverse(4);
motorSpeed(4,40);
goFor(1.25);
//Waiting at gate with caboose
brake(4);
reverse(4);
goFor(8);
//Returning to starting point with caboose
motorSpeed(4,40);
goToAbsolutePosition(-250);
brake(4);
reverse(4);
goFor(1.5);
motorSpeed(4,40);
goFor(.9);
brake(4);