Description of Code: This is another form of the code where the mission is completed. The AEV stops at the gate for 5 seconds while going to R2D2 and with coming back with the cargo. It waits with R2D2 when it first connects for another 5 seconds. When it arrives back to the beginning, it slows in without bouncing off of the foam block.
//reverse all motors
reverse(4);
//motors run at 21% for until 307 marks and then coast until the gate
motorSpeed(4,21);
goToAbsolutePosition(307);
//reverse to act as a braking force
reverse(4);
motorSpeed(4,25);
goFor(1.5);
//brake all motors
brake(4);
//brake and wait for the gate to open
goFor(9);
reverse(4); //back into pusher
//everything above is to get to the gate
//run at an initial boost
motorSpeed(4,25);
goFor(2);
//run until 640 position and coast until R2D2
motorSpeed(4,20);
goToAbsolutePosition(640);
//R2D2 capture
//wait at R2D2 for about 5secs
brake(4);
goFor(10);
reverse(4); //into puller mode
//run until 590 as an initial boost of speed
motorSpeed(4,36);
goToAbsolutePosition(590);
//run the rest and then coast until the gate
motorSpeed(4,21);
goToAbsolutePosition(500);
//wait at the gate
brake(4);
goToAbsolutePosition(480);
//goes into pusher and then use that as a braking force
reverse(4);
motorSpeed(4,18);
goFor(2);
reverse(4); //back into puller
//wait at the gate until it opens
brake(4);
goFor(9);
//at the gate
//return to start
motorSpeed(4, 35);
goToAbsolutePosition(145); //coast until the end
brake(4);