Week 1

Week 2

Week 3 and Week 4

Week 5

Week 6

Week 7

Week 8

Week 9

//Push Stop

// Start to gate

reverse(4);

rotateServo(0);

brake(4);

goFor(1);

motorSpeed(4, 40);

goFor(1);

celerate(4, 7.5, 28.5, 3);

goToAbsolutePosition(245);

brake(4);

reverse(4);

goToAbsolutePosition(415);

motorSpeed(4, 15);

goFor(1.2);

brake(4);

 

// Gate to R2D2

reverse(4);

goFor(11);

motorSpeed(4, 30);

goFor(1);

celerate(4, 7.5, 28.5, 3);

goToAbsolutePosition(724);

brake(4);

reverse(4);

goToAbsolutePosition(872);

motorSpeed(4, 15);

goFor(1.2);

 

//Backwards to gate

rotateServo(180);

reverse(4);

brake(4);

goFor(5);

motorSpeed(4, 45);

goFor(1.5);

celerate(4, 20, 38, 3);

goToAbsolutePosition(744);

brake(4);

reverse(4);

goToAbsolutePosition(574);

motorSpeed(4, 15);

goFor(1.2);

brake(4);

 

//Back to start

goFor(11);

reverse(4);

motorSpeed(4, 45);

goFor(1.5);

celerate(4, 20, 38, 3);

goToAbsolutePosition(415);

brake(4);

reverse(4);

goToAbsolutePosition(245);

motorSpeed(4, 15);

goFor(1.2);

brake(4);

 

//Pull Stop

// Start to gate

reverse(4);

rotateServo(0);

brake(4);

goFor(1);

motorSpeed(4, 40);

goFor(1);

celerate(4, 7.5, 28.5, 3);

goToAbsolutePosition(245);

brake(4);

rotateServo(180);

goToAbsolutePosition(415);

motorSpeed(4, 15);

goFor(1.2);

brake(4);

 

// Reaches gate

rotateServo(0);

goFor(11);

motorSpeed(4, 30);

goFor(1);

celerate(4, 7.5, 28.5, 3);

goToAbsolutePosition(724);

brake(4);

rotateServo(180);

goToAbsolutePosition(872);

motorSpeed(4, 15);

goFor(1.2);

 

//Backwards to gate

brake(4);

goFor(5);

motorSpeed(4, 45);

goFor(1.5);

celerate(4, 20, 38, 3);

goToAbsolutePosition(744);

brake(4);

rotateServo(0);

goToAbsolutePosition(574);

motorSpeed(4, 15);

goFor(1.2);

brake(4);

 

//Back to start

goFor(11);

motorSpeed(4, 45);

goFor(1.5);

celerate(4, 20, 38, 3);

goToAbsolutePosition(415);

brake(4);

rotateServo(0);

goToAbsolutePosition(245);

motorSpeed(4, 15);

goFor(1.2);

brake(4);

 

Week 10
rotateServo(0);
goFor(11);
motorSpeed(4, 34);
goFor(1);
motorSpeed(4, 22.3);
goFor(1.85);
goToAbsolutePosition(770);
brake(4);
goFor(5);
rotateServo(180);

//Backwards to gate

brake(4);
goFor(2);
motorSpeed(4, 42);
goFor(1.5);
//celerate(4, 20, 38, 3);
motorSpeed(4, 31);
goFor(2.5);
goToAbsolutePosition(680);
brake(4);
rotateServo(0);
goToAbsolutePosition(574);
motorSpeed(4, 15);
goFor(1.2);
brake(4);

//Back to start

goFor(6);
rotateServo(180);
brake(4);
goFor(5);
motorSpeed(4, 45);
goFor(1.5);
motorSpeed(4, 37);
goFor(3);
goToAbsolutePosition(250);
brake(4);
rotateServo(0);
goToAbsolutePosition(150);
motorSpeed(4, 27);
goFor(1.2);
brake(4);

Final Code

//Start to gate
reverse(4);
rotateServo(0);
brake(4);
goFor(1);
motorSpeed(4, 35);
goFor(1);
motorSpeed(4, 23.15);
goFor(1.75);
goToAbsolutePosition(300);
brake(4);
rotateServo(180);
goToAbsolutePosition(415);
motorSpeed(4, 15);
goFor(1.2);
brake(4);
while (!isStopped()) {
if (getVehiclePostion() > 476) {
stopAEV(1);
}
}
if(getVehiclePostion() < 473) {
reverse(4);
motorSpeed(4, 28);
goToAbsolutePosition(473);
brake(4);
reverse(4);
stopAEV(1);
}

// Gate to R2D2

rotateServo(0);
goFor(7);
motorSpeed(4, 34);
goFor(1);
motorSpeed(4, 23);
goFor(1.85);
goToAbsolutePosition(770);
brake(4);
goFor(10);
rotateServo(180);

//Backwards to gate
brake(4);
goFor(2);
motorSpeed(4, 42);
goFor(1.5);
motorSpeed(4, 30);
goFor(2.5);
goToAbsolutePosition(680);
brake(4);
rotateServo(0);
goToAbsolutePosition(590);
motorSpeed(4, 15);
goFor(1.2);
brake(4);
while (!isStopped()) {
if (getVehiclePostion() < 521) {
stopAEV(2);
}
}
if(getVehiclePostion() > 540) {
reverse(4);
motorSpeed(4, 32);
goToAbsolutePosition(540);
brake(4);
reverse(4);
stopAEV(2);
}
//Back to start

goFor(5);
rotateServo(180);
brake(4);
goFor(3);
motorSpeed(4, 45);
goFor(1.5);
motorSpeed(4, 37);
goFor(3);
goToAbsolutePosition(250);
brake(4);
rotateServo(0);
goToAbsolutePosition(150);
motorSpeed(4, 27);
goFor(1.2);
brake(4);
while (!isStopped()) {
if (getVehiclePostion() < 30) {
stopAEV(2);
}
}
if(getVehiclePostion() > 50) {
reverse(4);
motorSpeed(4, 20);
goToAbsolutePosition(50);
brake(4);
reverse(4);
stopAEV(2);
}

 

Methods