Arduino Code

Preliminary R and D Labs

Lab 2 AEV Motor Test Code:

//This block of code was used to test each motor to see whether it worked and assess the accuracy of the arduino controller.
motorSpeed(1,23); // Run motor one at a constant speed (23% power) for 2.5 second.
goFor(2.5);
brake(1); // Brake motor one.
motorSpeed(2,23); //Run motor one at a constant speed (23% power) for 2.5 seconds.
goFor(2.5);
brake(2); //Brake motor two
//This block of code was used to test the all motor function built in the Arduino IDE using the number 4 (stands for all motors).
motorSpeed(4,30); // Run all motors at a constant speed (30% power) for 5 seconds.
goFor(5);
brake(4);//Brakes all motors.
//celerate(1,10,20,5) // This block of code was used to test all motor’s accelerating function, it has to accelerate motor 1 from 10% to the 20% in 5 seconds

Arduino Function Glossary:

// Run motor one at a constant speed (23% power) for 2.5 second.
motorSpeed(1,23);
goFor(2.5);
// Brake motor one.
brake(1);
//Accelerate motor one from start to 15% power in 2.5 seconds.
celerate(1,0,15,2.5);
//Run motor one at a constant speed (15% power) for 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 2 seconds.
celerate(4,0,31,2);
// Run all motors at a constant speed of 35% power for 1 second.
motorSpeed(4,35);
goFor(1);
//Brake motor two but keep motor one running at a constant speed (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 one.
reverse(1);
//Accelerate motor one from start to 19% power over 2 seconds.
celerate(1,0,19,2);
//Run motor two at 35% power while simultaneously running motor one at 19% power for 2 seconds.
motorSpeed(2,35); goFor(2);
motorSpeed(1,19); goFor(2);
//Run both motors at a constant speed (19% power) for 2 seconds
motorSpeed(1,19);
goFor(2);
motorSpeed(2,19);
goFor(2);
// Decelerate both motors to 0% power in 3 seconds
celerate(1,19,0,3); celerate(2,19,0,3);
//Brake all motors
brake(4);

Reflective Sensors (Lab 2)

// Run motor one at a constant speed (25% power) for 2 seconds.
motorSpeed(1,25);
goFor(2);
// run all motors at a constant speed of 20%
motorSpeed(4,20);
// Run for 12 feet
goToAbsolutePosition(295.385);
// reverse all motors
reverse(4);
//4.Run all motors at a constant speed of 30% power for 1.5 second.
motorSpeed (4,30);
goFor(1.5);
// Brake all motors
brake(4);

CSS1 (Lab 4)

// Run motor one at a constant speed (23% power) for 2.5 second.
motorSpeed(1,23);
goFor(2.5);
//Accelerate all motors from start to 25% in 3 seconds.
celerate(4,0,25,3);
// Run all motors at a constant speed (25% power) for 1 second
motorSpeed(4,25);
goFor(1);
//Run all motors at 20% power for 2 seconds.
motorSpeed(4,20);
goFor(2);
//Reverse all motors.
reverse(4);
//Run all motors at a constant speed (25% power) for 2 second.
motorSpeed(4,25);
goFor(2);

 

Advanced R and D Labs

Lab 1: Motor Quantity Code

//1 Accelerate all motors from start to 45% in 3 seconds
// Run motor one at a constant speed (23% power) for 2.5 second.
reverse(4);
motorSpeed(4,45);//
goFor(2.5);

//Accelerate all motors from start to 50% in 3 seconds.
celerate(4,0,50,3);
// Run all motors at a constant speed (50% power) for 1 second
motorSpeed(4,50);
goFor(2);
//Run all motors at 35% power for 2 seconds.
motorSpeed(4,35);
goFor(3);
//Reverse all motors.
reverse(4);
//Run all motors at a constant speed (45% power) for 2 second.
motorSpeed(4,45);
goFor(3);

 

Lab 2: Battery Testing Code

//1 Accelerate all motors from start to 45% in 3 seconds
// Run motor one at a constant speed (23% power) for 2.5 second.
reverse(4);
motorSpeed(4,45);//
goFor(2.5);

//Accelerate all motors from start to 50% in 3 seconds.
celerate(4,0,50,3);
// Run all motors at a constant speed (50% power) for 1 second
motorSpeed(4,50);
goFor(2);
//Run all motors at 35% power for 2 seconds.
motorSpeed(4,35);
goFor(3);
//Reverse all motors.
reverse(4);
//Run all motors at a constant speed (45% power) for 2 second.
motorSpeed(4,45);
goFor(3);

 

Performance Tests

Performance Test 1 Code

reverse(4);
motorSpeed(4,50);
goToRelativePosition(-255);
brake(4);

03/21/18
reverse(4);
celerate(4,0,50,3);
motorSpeed(4,50);
goToRelativePosition(-240);
motorSpeed(4,0);
goFor(7);
celerate(4,0,50,3);
goToRelativePosition(-255);
brake(4);

 

Performance Test 2 Code

Code Series 1

3/22/18
reverse(4);
motorSpeed(4,50);
goToRelativePosition(-251);
motorSpeed(4,0);
goFor(7);
celerate(4,0,50,3);
goToRelativePosition(-160);
reverse(4);
motorSpeed(4,20);
goFor(3);
brake(4);

Code Series 2
3/27/18
reverse(4);
motorSpeed(4,60);
goToRelativePosition(-222);
reverse(4);
motorSpeed(4,40);
goFor(3);
reverse(4);
motorSpeed(4,0);
goFor(7);
celerate(4,0,50,3);
goToRelativePosition(-175);
reverse(4);
motorSpeed(4,40);
goFor(3);
brake(4);

3/27/18
reverse(4);
motorSpeed(4,60);
goToRelativePosition(-225);
reverse(4);
motorSpeed(4,50);
goFor(3);
reverse(4);
motorSpeed(4,0);
goFor(7);
celerate(4,0,50,3);
goToRelativePosition(-180);
reverse(4);
motorSpeed(4,40);
goFor(3);
motorSpeed(4,90);
goToRelativePosition(100);
brake(4);

3/28/18
reverse(4);
motorSpeed(4,60);
goToRelativePosition(-225);
reverse(4);
motorSpeed(4,50);
goFor(3);
reverse(4);
motorSpeed(4,0);
goFor(7);
celerate(4,0,50,3);
goToRelativePosition(-180);
reverse(4);
motorSpeed(4,40);
goFor(3);
motorSpeed(4,0);
goFor(5);
motorSpeed(4,80);
goToRelativePosition(80);
brake(4);

reverse(4);
motorSpeed(4,60);
goToRelativePosition(-218);
reverse(4);
motorSpeed(4,50);
goFor(3);
reverse(4);
motorSpeed(4,0);
goFor(7);
celerate(4,0,50,3);
goToRelativePosition(-170);
reverse(4);
motorSpeed(4,40);
goFor(3);
motorSpeed(4,0);
goFor(5);
motorSpeed(4,80);
goToRelativePosition(80);
brake(4);

3/29/18
reverse(4);
motorSpeed(4,40);
goToRelativePosition(-218);
reverse(4);
motorSpeed(4,40);
goFor(2);
reverse(4);
motorSpeed(4,0);
goFor(7);
celerate(4,0,40,3);
goToRelativePosition(-155);
reverse(4);
motorSpeed(4,35);
goFor(3);
motorSpeed(4,0);
goFor(5);
motorSpeed(4,60);
goToRelativePosition(255);
reverse(4);
motorSpeed(4,35);
goFor(4);
motorSpeed(4,0);
goFor(7);
reverse(4);
celerate(4,0,60,3);
goToRelativePosition(150);
reverse(4);
motorSpeed(4,40);
goFor(3);
brake(4);

 

 

 

 

 

Performance Test 3 Code

 

04/05/18
reverse(4);
motorSpeed(4,35);
goToRelativePosition(-218);
reverse(4);
motorSpeed(4,40);
goFor(2.5);
reverse(4);
motorSpeed(4,0);
goFor(7);
celerate(4,0,40,3);
goToRelativePosition(-138);
reverse(4);
motorSpeed(4,35);
goFor(3);
motorSpeed(4,0);
goFor(5);
motorSpeed(4,60);
goToRelativePosition(226);
reverse(4);
motorSpeed(4,35);
goFor(2);
motorSpeed(4,0);
goFor(7);
reverse(4);
celerate(4,0,60,3);
goToRelativePosition(190);
reverse(4);
motorSpeed(4,40);
goFor(3);
brake(4);

 

 

 

 

Final Performance Test

Code:

FPT22
reverse(4);
motorSpeed(4,37);
goToRelativePosition(-217);
reverse(4);
motorSpeed(4,40);
goFor(2.5);
reverse(4);
motorSpeed(4,0);
goFor(7);
celerate(4,0,40,3);
goToRelativePosition(-136);
reverse(4);
motorSpeed(4,35);
goFor(3);
motorSpeed(4,0);
goFor(5);
motorSpeed(4,60);
goToRelativePosition(226);
reverse(4);
motorSpeed(4,35);
goFor(2);
motorSpeed(4,0);
goFor(7);
reverse(4);
celerate(4,0,60,3);
goToRelativePosition(198);
reverse(4);
motorSpeed(4,40);
goFor(3);
brake(4);

 

FTP3
reverse(4);
motorSpeed(4,37);
goToRelativePosition(-213);
reverse(4);
motorSpeed(4,40);
goFor(2);
reverse(4);
motorSpeed(4,0);
goFor(7);
celerate(4,0,40,3);
goToRelativePosition(-148);
reverse(4);
motorSpeed(4,35);
goFor(3);
motorSpeed(4,0);
goFor(5);
motorSpeed(4,60);
goToRelativePosition(232);
reverse(4);
motorSpeed(4,35);
goFor(2);
motorSpeed(4,0);
goFor(7);
reverse(4);
celerate(4,0,60,3);
goToRelativePosition(200);
reverse(4);
motorSpeed(4,40);
goFor(3);
brake(4);

 

FTP4
reverse(4);
motorSpeed(4,37);
goToRelativePosition(-213);
reverse(4);
motorSpeed(4,40);
goFor(2);
reverse(4);
motorSpeed(4,0);
goFor(7);
celerate(4,0,40,3);
goToRelativePosition(-147);
reverse(4);
motorSpeed(4,35);
goFor(3);
motorSpeed(4,0);
goFor(5);
motorSpeed(4,60);
goToRelativePosition(240);
reverse(4);
motorSpeed(4,35);
goFor(2);
motorSpeed(4,0);
goFor(7);
reverse(4);
celerate(4,0,60,3);
goToRelativePosition(200);
reverse(4);
motorSpeed(4,40);
goFor(3);
brake(4);

 

 

 

FTPW1
reverse(4);
motorSpeed(4,37);
goToRelativePosition(-215);
reverse(4);
motorSpeed(4,39);
goFor(2);
reverse(4);
motorSpeed(4,0);
goFor(7);
celerate(4,0,40,3);
goToRelativePosition(-149);
reverse(4);
motorSpeed(4,35);
goFor(3);
motorSpeed(4,0);
goFor(5);
motorSpeed(4,60);
goToRelativePosition(225);
reverse(4);
motorSpeed(4,35);
goFor(2);
motorSpeed(4,0);
goFor(7);
reverse(4);
celerate(4,0,60,3);
goToRelativePosition(180);
reverse(4);
motorSpeed(4,40);
goFor(3);
brake(4);

 

FTW2
reverse(4);
motorSpeed(4,37);
goToRelativePosition(-215);
reverse(4);
motorSpeed(4,40);
goFor(2);
reverse(4);
motorSpeed(4,0);
goFor(7);
celerate(4,0,40,3);
goToRelativePosition(-149);
reverse(4);
motorSpeed(4,35);
goFor(3);
motorSpeed(4,0);
goFor(5);
motorSpeed(4,60);
goToRelativePosition(223);
reverse(4);
motorSpeed(4,35);
goFor(2);
motorSpeed(4,0);
goFor(7);
reverse(4);
celerate(4,0,60,3);
goToRelativePosition(180);
reverse(4);
motorSpeed(4,40);
goFor(3);
brake(4);

 

FTW3
reverse(4);
motorSpeed(4,37);
goToRelativePosition(-213);
reverse(4);
motorSpeed(4,45);
goFor(2);
reverse(4);
motorSpeed(4,0);
goFor(7);
celerate(4,0,40,3);
goToRelativePosition(-149);
reverse(4);
motorSpeed(4,35);
goFor(3);
motorSpeed(4,0);
goFor(5);
motorSpeed(4,60);
goToRelativePosition(220);
reverse(4);
motorSpeed(4,35);
goFor(2);
motorSpeed(4,0);
goFor(7);
reverse(4);
celerate(4,0,60,3);
goToRelativePosition(180);
reverse(4);
motorSpeed(4,40);
goFor(3);
brake(4);

 

FTW4
reverse(4);
motorSpeed(4,37);
goToRelativePosition(-213);
reverse(4);
motorSpeed(4,50);
goFor(2);
reverse(4);
motorSpeed(4,0);
goFor(7);
celerate(4,0,40,3);
goToRelativePosition(-149);
reverse(4);
motorSpeed(4,35);
goFor(3);
motorSpeed(4,0);
goFor(5);
motorSpeed(4,60);
goToRelativePosition(220);
reverse(4);
motorSpeed(4,35);
goFor(2);
motorSpeed(4,0);
goFor(7);
reverse(4);
celerate(4,0,60,3);
goToRelativePosition(185);
reverse(4);
motorSpeed(4,40);
goFor(3);
brake(4);

03/21

Prototype 2

reverse(4);

motorSpeed(4,50);

goToRelativePosition(-240);

motorSpeed(4,0);

goFor(7);

celerate(4,0,50,3);

goToRelativePosition(-255);

brake(4);

 

3/22/18

Prototype 2

reverse(4);

motorSpeed(4,50);

goToRelativePosition(-251);

motorSpeed(4,0);

goFor(7);

celerate(4,0,50,3);

goToRelativePosition(-160);

reverse(4);

motorSpeed(4,20);

goFor(3);

brake(4);

Prototype 1

reverse(4);

motorSpeed(4,55);

goToRelativePosition(-251);

motorSpeed(4,0);

goFor(7);

celerate(4,0,50,3);

goToRelativePosition(-160);

reverse(4);

motorSpeed(4,20);

goFor(3);

brake(4);

 

 

3/29/18

reverse(4);

motorSpeed(4,40);

goToRelativePosition(-215);

reverse(4);

motorSpeed(4,30);

goFor(3);

// reverse(4);

//motorSpeed(4,0);

//goFor(7);

//celerate(4,0,50,3);

//goToRelativePosition(-170);

//reverse(4);

//motorSpeed(4,50);

//goFor(3);

//motorSpeed(4,0);

//goFor(5);

//motorSpeed(4,95);

//goToRelativePosition(230);

//reverse(4);

//motorSpeed(4,50);

//goFor(3);5

brake(4);

 

 

reverse(4);

motorSpeed(4,40);

goToRelativePosition(-218);

reverse(4);

motorSpeed(4,40);

goFor(2);

reverse(4);

motorSpeed(4,0);

goFor(7);

celerate(4,0,40,3);

goToRelativePosition(-155);

reverse(4);

motorSpeed(4,35);

goFor(3);

motorSpeed(4,0);

goFor(5);

motorSpeed(4,60);

goToRelativePosition(255);

reverse(4);

motorSpeed(4,35);

goFor(4);

motorSpeed(4,0);

goFor(7);

reverse(4);

celerate(4,0,60,3);

goToRelativePosition(150);

reverse(4);

motorSpeed(4,40);

goFor(3);

brake(4);

 

 

04/05/18

reverse(4);

motorSpeed(4,35);

goToRelativePosition(-218);

reverse(4);

motorSpeed(4,40);

goFor(2.5);

reverse(4);

motorSpeed(4,0);

goFor(7);

celerate(4,0,40,3);

goToRelativePosition(-138);

reverse(4);

motorSpeed(4,35);

goFor(3);

motorSpeed(4,0);

goFor(5);

motorSpeed(4,60);

goToRelativePosition(226);

reverse(4);

motorSpeed(4,35);

goFor(2);

motorSpeed(4,0);

goFor(7);

reverse(4);

celerate(4,0,60,3);

goToRelativePosition(190);

reverse(4);

motorSpeed(4,40);

goFor(3);

brake(4);

 

 

Final Performance Test

reverse(4);

motorSpeed(4,37);

goToRelativePosition(-217);

reverse(4);

motorSpeed(4,40);

goFor(2.5);

reverse(4);

motorSpeed(4,0);

goFor(7);

celerate(4,0,40,3);

goToRelativePosition(-136);

reverse(4);

motorSpeed(4,35);

goFor(3);

motorSpeed(4,0);

goFor(5);

motorSpeed(4,60);

goToRelativePosition(226);

reverse(4);

motorSpeed(4,35);

goFor(2);

motorSpeed(4,0);

goFor(7);

reverse(4);

celerate(4,0,60,3);

goToRelativePosition(198);

reverse(4);

motorSpeed(4,40);

goFor(3);

brake(4);