Description of Code: This is one of the codes that completes the mission. This code runs the AEV until the gate, where it stops for about 5 seconds before it runs again. It connects with R2D2, the cargo, and waits for about 5 seconds again before stopping at the gate for another five seconds. After passing through the gate with the cargo, the AEV slowly comes back to the beginning.
//reverse all motors
reverse(4);
//run motors at 21 power until 300 marks
motorSpeed(4,21);
goToAbsolutePosition(300);
//reverse
reverse(4);
//runs backwards at 24 power for 2 seconds
motorSpeed(4,24);
goFor(2);
//brake all motors
brake(4);
//wait time at gate
goFor(8);
//gates open
//reverse motors to be put back into pusher mode
reverse(4);
//run motors at 35 power for two seconds
motorSpeed(4,25);
goFor(2);
//runs motor at 20 power until 640 marks
motorSpeed(4,20);
goToAbsolutePosition(640);
//coasts to R2D2
brake(4);
//waits at R2D2
goFor(10);
//reverse motors into puller mode
reverse(4);
//runs motors at 36 power until 590 marks
motorSpeed(4,36);
goToAbsolutePosition(590);
//runs motors at 21 power until 510 marks
motorSpeed(4,21);
goToAbsolutePosition(510);
//brakes motors and coasts until 490 marks
brake(4);
goToAbsolutePosition(490);
//reverse motors to act as a brake
reverse(4);
//goes into pusher mode softly at 16 power for 2 seconds
motorSpeed(4,16);
goFor(2);
//back into puller mode
reverse(4);
//waits at gate
brake(4);
goFor(9);
//gates open
//return to start
//runs all motor at 35 power until 145 marks
motorSpeed(4, 35);
goToAbsolutePosition(145);
//coasts until the beginning
brake(4);