Code From pR&D Exercise 1
//accelerate motor 1 from start to 15% power in 2.5 seconds
celerate(1,0,15,2.5);
//run motor one at a constant speed 15% power in 1 second
motorSpeed(1,15);
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 a constant speed 27% power for 2.7 seconds
motorSpeed(2,27);
goFor(2.7);
//decelerate motor two to 15% power in 1 second
celerate(2,27,15,1);
//brake motor two
brake(2);
//reverse the direction of only motor 2
reverse(2);
//accelerate all motors from start to 31% power in two seconds
celerate(4,0,31,2);
//run all motors at a constant speed of 35% power for one second
motorSpeed(4,35);
goFor(1);
//brake motor two but keep motor one running at a constant speed of 35% power for 3 seconds
brake(2);
motorSpeed(1,35);
goFor(3);
//brake all motors for 1 second
brake(4);
goFor(1);
//reverse the direction of motor 1
reverse(1);
//accelerate motor 1 from start to 19% power over 2 seconds
celerate(1,0,19,2);
//Run motor 2 at 35% power and run motor 1 at 19% power for 2 seconds
motorSpeed(2,35);
motorSpeed(1,19);
goFor(2);
//Run both motors at a constant speed of 19% 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);