Codes | ENGR 1182 SP18 Bevis Devise Inc.

Activity 1 (Motor Testing)

celerate(1,0,15,2.5); // motor accelerating to 15% power over 2.5 seconds

motorSpeed(1,15); // motor 1 running at 15% power

goFor(1);

brake(1);

celerate(2,0,27,4); //testing second motor

motorSpeed(2,27); // second motor running at 27% power

goFor(2.7);

celerate(2,27,15,1);

brake(2);

reverse(2); // second motor going in reverse

celerate(4,0,31,2); // testing both motors at same time

motorSpeed(4,35); // both motors running at 35% power

goFor(1);

brake(2); // 2nd motor braking, first motor still running

motorSpeed(1,35);

goFor(3);

brake(1);

goFor(1);

reverse(1);

celerate(1,0,19,2);

motorSpeed(2,35);

motorSpeed(1,19);

goFor(2);

motorSpeed(4,19); // both motors running at 19% power

goFor(2);

celerate(4,19,0,3);

brake(4); // brake all

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Activity 2 (Reflectance Sensors)

motorSpeed(4,25); //Run all motors at a constant speed of 25% power for 2 seconds.

goFor(2);

motorSpeed(4,20); //Run all motors at a constant speed of 20% and to absolute 12 feet

goToAbsolutePosition(295.384615385); //

reverse(4); //Reverse motors

motorSpeed(4,30);//Run all motors at a constant speed of 30% power for 1.5 second.

goFor(1.5);

brake(4); //Brake all

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Activity 4

celerate(4,0,45,3);

motorSpeed(4,45);

goFor(1);

motorSpeed(4,20);

goFor(2);

reverse(4);

motorSpeed(4,25);

goFor(2);

brake(4);

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Coasting

motorSpeed(4,25); //going at 25%

goToAbsolutePosition(246); //go for 10 feet

brake(4); //braking all motors for coasting

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Power Brake

reverse(4);

motorSpeed(4,25); //going at 25%

goToRelativePosition(246);

brake(4);//go 10 feet

reverse(4); //power break

motorSpeed(4,25);

goFor(3);

brake(4);//time to power break

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Battery Testing Code (Power Braking with goFor instead of goToRelativePosition)

reverse(4);

motorSpeed(4,25);

goFor(5);

brake(4);

reverse(4);

motorSpeed(4,25);

goFor(3);

brake(4);

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Advanced R& D

Step Test for Speed

celerate(2,0,25,5);

goFor(5);

celerate(2,25,0,5);

reverse(2);

celerate(2,0,25,5);

goFor(5);

celerate(2,25,0,5);

reverse(2);

celerate(2,0,35,5);

goFor(3);

celerate(2,35,0,5);

reverse(2);

celerate(2,0,35,5);

goFor(3);

celerate(2,35,0,5);

reverse(2);

celerate(2,0,55,5);

goFor(3);

celerate(2,55,0,5);

reverse(2);

celerate(2,0,55,5);

goFor(3);

celerate(2,55,0,5);

Speed Test (75%)

celerate(2,0,75,5);

goFor(2);

celerate(2,75,0,5);

reverse(2);

celerate(2,0,75,5);

goFor(2);

celerate(2,75,0,5);

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Testing Code

Performance Test 1

———

UPSTAIRS ROOM

// Up to the gate

reverse(4);

motorSpeed(4,30); //going at 25%

goToRelativePosition(229); // 10+feet

brake(4);

reverse(4);

motorSpeed(4,30);

goFor(2.5);

brake(4);

//time to power break

//Wait 8 seconds

goFor(8);

reverse(4);

// Go again

motorSpeed(4,25);

goToRelativePosition(100);

brake(4);

goFor(2.5);

reverse(4);

motorSpeed(4,25);

goFor(3);

brake(4);

——-

DOWNSTAIRS ROOM:

// Up to the gate

reverse(4);

motorSpeed(4,30); //going at 25%

goToRelativePosition(236); // 10+feet

brake(4);

reverse(4);

motorSpeed(4,30);

goFor(2.3);

brake(4);

//time to power break

//Wait 8 seconds

goFor(8);

reverse(4);

// Go again

motorSpeed(4,25);

goToRelativePosition(95);

brake(4);

goToRelativePosition(196);

//reverse(4);

//motorSpeed(4,25);

//goFor(.5);

brake(4);

goFor(6.5);

reverse(4);

motorSpeed(4,35);

goFor(4);

brake(4);

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PERFORMANCE TEST 2:

UPSTAIRS

// Up to the gate

reverse(4);

motorSpeed(4,30); //going at 25%

goToRelativePosition(235); // 10+feet

brake(4);

reverse(4);

motorSpeed(4,30);

goFor(2.5);

brake(4);

//time to power break

//Wait 8 seconds

goFor(8);

reverse(4);

// Go again

motorSpeed(4,25);

goToRelativePosition(95);

brake(4);

goToRelativePosition(196);

reverse(4);

motorSpeed(4,25);

goFor(1);

brake(4);

goFor(5.75);

motorSpeed(4,35);

goFor(4);

brake(4);

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ABSOLUTE POSITION:

// Up to the gate

reverse(4);

motorSpeed(4,30); //going at 25%

goToAbsolutePosition(220); // 10+feet

brake(4);

reverse(4);

motorSpeed(4,30);

goFor(2.5);

brake(4);

//time to power break

//Wait 8 seconds

goFor(8);

reverse(4);

// Go again

motorSpeed(4,25);

goToAbsolutePosition(370);

brake(4);

goToAbsolutePosition(566);

reverse(4);

motorSpeed(4,25);

goFor(1);

brake(4);

goFor(5.75);

motorSpeed(4,35);

goFor(4);

brake(4);

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Final Performance Test

ABSOLUTE POSITION:

// Up to the gate

reverse(4);

motorSpeed(4,30); //going at 25%

goToAbsolutePosition(220); // 10+feet

brake(4);

reverse(4);

motorSpeed(4,30);

goFor(2.5);

brake(4);

//time to power break

//Wait 8 seconds

goFor(8);

reverse(4);

// Go again

motorSpeed(4,25);

goToAbsolutePosition(370);

brake(4);

goToAbsolutePosition(566);

reverse(4);

motorSpeed(4,25);

goFor(1);

brake(4);

goFor(5.75);

motorSpeed(4,35);

goFor(4);

brake(4);