1. First Code to Get to Gate
2. Codes to Test Number of Motors and Efficiency Relation
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Coasting with Two Propellers
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Coasting with One Propeller
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Constant Energy Input with Two Propellers
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Constant Energy Input with One Propeller
3. Initial Code Before Power Readjustments
4. Code to Adjust for Room 308
5. Final Code
First Code to Get to Gate
reverse(4);
celerate(4,0,25,3);
goFor(1);
motorSpeed(4,20);
goFor(2);
brake(4);
reverse(4);
motorSpeed(4,25);
goFor(2);
brake(4);
Codes to Test Number of Motors and Efficiency Relation
Coasting with Two Propellers
// Coasting Two Motors
reverse(4);
motorSpeed(4, 55); //run both motors at 55% for 2 seconds
goFor(2);
brake(4); //stop both motors for 16 ft
goToAbsolutePosition(447);
reverse(4); //reverse all motors
motorSpeed(4, 32); //run all motors at 32% for 1.5 seconds
goFor(1.5);
brake(4); //brake all motors
Coasting with One Propeller
// Coasting One Propellor
// reverse(4);
motorSpeed(4, 65); //run both motors at 65% for 3 seconds
goFor(2.5);
brake(4); //stop both motors for 16 ft
goToAbsolutePosition(444);
reverse(4); //reverse all motors
motorSpeed(4, 35); //run all motors at 40% for 1.5 seconds
goFor(1.5);
brake(4); //brake all motors
Constant Energy Input with Two Propellers
// Constant Two Motor
reverse(4);
motorSpeed(4, 30); //run both motors at 30% for 2 seconds
goFor(2);
motorSpeed(4, 25); //run both motors at 25% for 16 ft
goToAbsolutePosition(447);
reverse(4); //reverse all motors
motorSpeed(4, 40); //run all motors at 40% for 1.5 seconds
goFor(1.5);
brake(4); //brake all motors
Constant Energy Input with One Propeller
// Constant One Motor
reverse(4);
motorSpeed(4, 35); //run both motors at 35% for 2 seconds
goFor(2);
motorSpeed(4, 30); //run both motors at 30% for 16 ft
goToAbsolutePosition(447);
reverse(4); //reverse all motors
motorSpeed(4, 45); //run all motors at 45% for 1.5 seconds
goFor(1.5);
brake(4); //brake all motors
Initial Code Before Power Readjustments
// Room 224
reverse(4);
rotateServo(90); // start brake for earlier deployment
motorSpeed(4, 65); //run both motors at 66%
goFor(2.4); // run for 2.4 seconds (barely makes it)
brake(4); //stop both motors for 18 ft
goToAbsolutePosition(488); //was 4867was original
// past Gate
rotateServo(160);
goFor(7.5);
rotateServo(90);
motorSpeed(4, 60); //run both motors at 65%
goFor(2.3); // run for 2.3 seconds was 2.1
brake(4); //stop both motors for ?? ft
goToAbsolutePosition(1000);// distance to get to before waiting 6 seconds
goFor(7); //time for AEV to reach R2 and wait 5 seconds
// back with r2
reverse(4);
motorSpeed(4, 75); //run both motors at was 74
goFor(3.8); // run for 3.8 seconds (3.4 still too short)
brake(4); //stop both motors
goToAbsolutePosition(550); //was 548
rotateServo(160);
goFor(7.5);
rotateServo(90);
// back past gate with R2
motorSpeed(4, 78); //run both motors at 75%
goFor(3.7); // run for 3.6 seconds
brake(4); //stop both motors for 18 ft
goToAbsolutePosition(17); //was 14, just a tad too late
rotateServo(160);
goFor(2);
Code to Adjust for Room 308
// Room 308
reverse(4);
rotateServo(90); // start brake for earlier deployment
motorSpeed(4, 66); //run both motors at 66%
goFor(2.2); // run for 2.4 seconds (barely makes it)
brake(4); //stop both motors for 18 ft
goToAbsolutePosition(488); //was 487 was original
// past Gate
rotateServo(160);
goFor(7.5);
rotateServo(90);
motorSpeed(4, 65); //run both motors at 65%
goFor(2.1); // run for 2.1 seconds was 2.3 (too fast)
brake(4); //stop both motors for ?? ft
goToAbsolutePosition(1000);// distance to get to before waiting 6 seconds
goFor(7); //time for AEV to reach R2 and wait 5 seconds
// back with r2
reverse(4);
motorSpeed(4,78); //run both motors at was 80
goFor(3.8); // run for 3.8 seconds (3.4 still too short)
brake(4); //stop both motors
goToAbsolutePosition(550); //was 548
rotateServo(160);
goFor(7.5);
rotateServo(90);
// back past gate with R2
motorSpeed(4, 78); //run both motors at 80%
goFor(3.7); // run for 3.6 seconds
brake(4); //stop both motors for 18 ft
goToAbsolutePosition(14); //was 12, just a tad too late
rotateServo(160);
goFor(2);
Final Code
// before gate
reverse(4);
rotateServo(90); //start brake for earlier deployment
motorSpeed(4, 60); //run motor at 60%
goFor(2.6); //run for 2.6 seconds
brake(4); //stop motor
goToAbsolutePosition(488); //go until gate
// past Gate
rotateServo(150); //activate brake
goFor(7.5); //wait for gate to open
rotateServo(90); //disengage brake
motorSpeed(4, 60); //run motor at 60%
goFor(2.3); // run for 2.3 seconds
brake(4); //stop motor
goToAbsolutePosition(1000);// distance to get to before waiting
goFor(7); //time for AEV to reach R2 and wait at least 5 seconds
// back with r2
reverse(4); //switch direction
motorSpeed(4, 60); //run both motors at 60%
goFor(5.3); // run for 5.3 seconds
brake(4); //stop motor
goToAbsolutePosition(550); //go until first sensor
rotateServo(160); //activate brake
goFor(7.5); //wait for brake
rotateServo(90); //disengage brake
// back past gate with R2
motorSpeed(4, 60); //run motor at 60%
goFor(5); // run for 5 seconds
brake(4); //stop motor
goToAbsolutePosition(17); //go until just before the start point
rotateServo(160); //engage brake
goFor(2);