Code

Lab 1 Code

// accelerates motor one from 0% power to 15% power over 2.5 seconds // celerate(1, 0, 15, 2.5); // runs motors in current condition for 1 second// goFor(1);

// brake motor 1 // brake(1);

// accelerate motor 2 from 0% power to 27% power over 4 seconds // celerate(2, 0, 27, 4);

// runs motors in current condition for 2.7 seconds// goFor(2.7);

// decelerate motor 2 from 27% power to 15% power over 1 second // celerate(2, 27, 15, 1);

// brake motor 2 // brake(2);

// reverse polarity of motor 2 // reverse(2);

// accelerate all motors from 0% power to 31% power over 2 seconds // celerate(4, 0, 31, 2);

// set the speed of all motors to 35% power // motorSpeed(4, 35);

// runs motors in current condition for 1 second// goFor(1);

// brake motor 2 // brake(2);

// runs motors in current condition for 3 seconds// goFor(3);

// brake all motors // brake(4);

// runs motors in current condition for 1 second// goFor(1);

// reverse polarity of motor 1 // reverse(1);

// accelerate motor 1 from 0% power to 19% power over 2 seconds // celerate(1, 0, 19, 2);

// set speed of motor 2 to 35% power // motorSpeed(2, 35);

// runs motors in current condition for 2 seconds// goFor(2);

// sets speed of all motors to 19% power // motorSpeed(4, 19);

// runs motors in current condition for 2 seconds// goFor(2);

// decelerates all motors from 19% power to 0% power over 3 seconds // celerate(4, 19, 0, 3);

// brake all motors // brake(4);

Lab 2 Code

// Sets speed of all motors to 25% // motorSpeed(4, 25);
// Runs all motors for 2 seconds // goFor(2);
// Sets speed of all motors to 20% // motorSpeed(4, 20);
// Runs motors until AEV is at absolute position 295.38 marks // goToAbsolutePosition(295.38);
// Reverses the polarity of all motors // reverse(4);
// Sets speed of all motors to 30% // motorSpeed(4,30);
// Runs all motors for 1.5 seconds // goFor(1.5);
// Brakes all motors // brake(4);

Lab 3 Code

celerate(4, 0, 25, 3); // Accelerates all motors from 0% power to 25% power in 3 seconds (ran as expected)

goFor(1); // runs for 1 second (ran as expected) \

motorSpeed(4, 20); // changes the speed of all motors to 2 seconds (ran as expected)

reverse(4); // reverses all motors (ran as expected)

motorSpeed(4, 25); // changes speed of all motors to 25% power (ran as expected)

goFor(2); // runs for 2 seconds (ran as expected)

brake(4); // cuts power to all motors (ran as expected)

Code for performance test 1

reverse (4);

motorSpeed (4,33);

goToRelativePosition (-200);

brake (4);

goFor (11);

motorSpeed (4,30);

goFor (2);

brake (4);

 

Code for performance test 2

motorSpeed (4,30);

goToRelativePosition (198);

brake (4);

reverse (4);

motorSpeed (4,35);

goFor(1);

brake (4);

gorFor (12);

reverse (4);

motorSpeed (4,30);

goToRelativePosition (100);

brake (4);

reverse (4);

motorSpeed (4,35);

goFor (1.4);

brake (4);

goFor (12);

motorSpeed (4,32);

goFor (5);

 

Code for final run 

rotateServo(0);

motorSpeed(4,34);

 

//move to gate

goToAbsolutePosition(264.5);

 

//braking process

brake(4);

rotateServo(35);

 

//wait 10 seconds

goFor(3);

rotateServo(0);

goFor(7);

 

//move to second slope

motorSpeed(4,35);

goToAbsolutePosition(550);

brake(4);

 

//move to cargo

goToAbsolutePosition(605);

rotateServo(35);

goFor(3);

rotateServo(0);

 

//wait to ensure connection

goFor(6);

reverse(4);

motorSpeed(4,48);

 

//go back to gate

goToRelativePosition(-275);

brake(4);

rotateServo(35);

goFor(3);

rotateServo(0);

goFor(7);

 

//move back to start

motorSpeed(4,45);

goToRelativePosition(-160);