Exercise 1
celerate(1,0,15,2.5); //run motor one from start to 15% speed for 2.5 seconds
motorSpeed(1,15); //run motor 1 at constant speed
goFor(1); //runs for 1 second
brake(1); //brake motor 1
celerate(2,0,27,4); //accelerates motor 2 to 27% power in 4 seconds
motorSpeed(2,27); //run at constant speed
goFor(2.7); //runs for 2.7 seconds
celerate(2,27,15,1); //decelerates motor 2 to 15% power in 1 second
brake(2);//brake motor 2
reverse(2);//reverses direction of motor 2
celerate(4,0,31,2); //accelerates all motors to 31% power in 2 seconds
motorSpeed(4,35); //runs all motors at constant speed
goFor(1); //runs for 1 second
brake(2); //brakes motor 2
motorSpeed(1,35); //runs motor 1 at constant speed
goFor(3); //runs for 3 seconds
brake(4); //brakes all motors
goFor(1); //brakes for 1 second
reverse(1); //reverses direction of motor 1
celerate(1,0,19,2); //accelrates motor 1 to 19% power in 2 seconds
motorSpeed(2,35); motorSpeed(1,19); //runs motor 2 at 35% power and motor 1 at 19% power
goFor(2); //runs for 2 seconds
motorSpeed(2,19); //runs motor 2 at 19% power
goFor(2); //runs for 2 seconds
celerate(4,19,0,3); //decelerates all motors to 0% power in 3 seconds
brake(4); // brakes all motors
Exercise 2
motorSpeed(4,25); //run motors at 25%
goFor(2); //run for 2 seconds
motorSpeed(4,20); //run motors at 20% power
goToAbsolutePosition(70); //go to the 70th mark, about 12 feet
reverse(4); //reverse all motors
motorSpeed(4,30); //run all motors at 30%
goFor(1.5); //run for 1.5 seconds
brake(4); //brake all motors
Exercise 4
celerate(4,0,25,3); //accelerate all motors from start to 25% power for 3 seconds
motorSpeed(4,25); //run motors at constant speed
goFor(1); //run for 1 second
motorSpeed(4,20); //run all motors at 20% power
goFor(2); //run for 2 seconds
reverse(4); //reverse all motors
motorSpeed(4,25); // run motors at 25% power
goFor(2); //run for 2 seconds
brake(4); //brake all motors