The following code has been developed for the AEV to achieve its mission:
//reach gate
reverse(1); // make one motor run in reverse for front-back motor design
motorSpeed(1,40); // sets motor 1 to 40% power
goToAbsolutePosition(170); // run the motors until a distance of 170 marks
brake(4); // shut off all motors
goToAbsolutePosition(383); // coast until a distance of 383 marks
reverse(4); // reverse the AEV motors to stop forward movement
motorSpeed(1,40); // sets motor 1 to 40% power
goFor(1); // run the motor at 40% power in the backwards direction for 1 sec to stop the AEV
brake(4); // stops all motors
goFor(7); // wait 7 seconds for gate to open
//reach R2-D2
reverse(4); // reverse the motors so the AEV travels forward
motorSpeed(1,42); // sets motor 1 to 42% power
goToAbsolutePosition(557); // run the motor to a distance of 557 marks
brake(4); // shut off all motors
goFor(12); // coast the rest of the way to the R2D2 and then wait 5 seconds
//reach gate
reverse(4); // reverse the motors so the AEV travels backwards toward the gate
motorSpeed(4,48.75); // set all motors 48.75% power
goFor(4); // run the motors for 4 seconds to get the AEV moving with the R2D2
brake(1); // shut off motor 1
motorSpeed(2,41); // sets motor 2 to 41% power
goToAbsolutePosition(465); // drive until mark 465
brake(4); // shut off all motors
reverse(4); // reverse the AEV motors to stop forward movement
motorSpeed(1,59.9); // set motor 1 to 59.9% power
goFor(1); // run the motor at 59.9% power in the reverse direction for 1 sec to stop the AEV
brake(4); // stops all motors
goFor(8); // wait 8 seconds for gate to open
//reach end
reverse(4); // reverse the motors
motorSpeed(4,49.9); // set all motors 49.9% power
goFor(4); // run the motors for 4 seconds to get the AEV moving with the R2D2
brake(1); // shut off motor 1
motorSpeed(2,40); // set motor 2 to 40% power
goToAbsolutePosition(50); // drive until 50 marks from the start of the track
brake(4); // brake all motors
reverse(4); // reverse the AEV motors to stop forward movement
motorSpeed(2,59.9); // sets motor 2 to 59.9% power
goFor(1); // runs the motors at 59.9% power in the backwards direction for 1 sec to stop the AEV
brake(4); // stops all motors
AEV Showcase Scenario 1
reverse(1); // reverse one motor for front-back motor design
motorSpeed(4,24); // set all motors to 24% power
goFor(4); // run the motors for 4 seconds
motorSpeed(4,16); // set all motors to 16% power
goFor(5); // run the motors for 5 seconds
brake(4); // shut off all motors
reverse(4); // reverse the motors
motorSpeed(4,35); // set all motors to 35% power
goFor(1); // run the motors for 1 second
brake(4); // shut off all motors
goFor(5); // run for 5 more seconds to finish collecting data
AEV Showcase Scenario 2
reverse(4); // all the motors so the AEV can travel backwards with the cargo
reverse(1); // reverse one motor for front-back motor design
motorSpeed(4,35); // set all motors to 35% power
goFor(5); // run the motors for 5 seconds
motorSpeed(4,28.1); // set all motors to 28.1% power
goFor(9); // run the motors for 9 seconds
brake(4); // shut off all motors
reverse(4); // reverse all motors
motorSpeed(4,10); // set all motors to 10% power
goFor(1); // run the motors for 1 second
brake(4); // shut off all motors
goFor(5); // run for 5 more seconds to finish collecting data
AEV Showcase Scenario 3
reverse(1); // reverse one motor for front-back motor design
// 640 marks = 20 ft
motorSpeed(2, 60); // set motor 2 to 60% power
goFor(2.2); // run the motor for 2.2 seconds
brake(4); // shut off all motors
goFor(10); // coast for 10 seconds to the cargo
// go back
reverse(4); // reverse all motors
motorSpeed(4, 60); // set all motors to 60% power
goFor(4); // run the motors for 4 seconds
brake(4); // shut off all motors
goFor(5); // run for 5 more seconds to finish collecting data
Comparing One Motor vs Two Motors:
Code 1
//reach gate
reverse(1); // make one motor run in reverse for front-back motor design
motorSpeed(4,30); // set all motors 30% power
// run the motors until a distance of 170 marks
goToAbsolutePosition(170);
brake(4); // shut off all motors
goToAbsolutePosition(375); // coast until a distance of 375 marks
reverse(4); // reverse the AEV motors to stop forward movement
motorSpeed(4,30); // sets all motors to 30% power
goFor(1); // runs the motors at 30% power in the backwards direction for 1 sec to stop the AEV
brake(4); // stops all motors
goFor(7); // wait 7 seconds for gate to open
//reach R2-D2
reverse(4); // reverse the motors so the AEV travels forward
motorSpeed(4,30); // sets all motors to 30% power
goToAbsolutePosition(555); // run the motors to a distance of 555 marks
brake(4); // shut off all motors
goFor(12); // coast the rest of the way to the R2D2 and then wait 5 seconds
//reach gate
reverse(4); // reverse the motors so the AEV travels backwards toward the gate
motorSpeed(4,50); // set all motors 50% power
//run the motors for 4 seconds to get the AEV moving with the R2D2
goFor(4);
motorSpeed(4,30); // set all motors to 30% power
goToAbsolutePosition(465); // drive until mark 465
brake(4); // shut off all motors
reverse(4); // reverse the AEV motors to stop forward movement
motorSpeed(4,50); // sets all motors to 50% power
goFor(1); // runs the motors at 50% power in the reverse direction for 1 sec to stop the AEV
brake(4); // stops all motors
goFor(7); // wait 7 seconds for gate to open
//reach end
reverse(4); // reverse the motors
motorSpeed(4,50); // set all motors 50% power
goFor(5); // run the motors at a high power for 5 seconds to get the AEV with cargo moving
motorSpeed(4,35); // reduce power to 35% for all motors
goToAbsolutePosition(60); // continue to 60 marks from the start of the track
brake(4); // brake all motors
reverse(4); // reverse the AEV motors to stop forward movement
motorSpeed(4,50); // sets all motors to 50% power
goFor(1); // runs the motors at 50% power in the backwards direction for 1 sec to stop the AEV
brake(4); // stops all motors
Code 2
//reach gate
reverse(1); // make one motor run in reverse for front-back motor design
motorSpeed(1,40); // set one motor to 40% power
// run the motor until a distance of 170 marks
goToAbsolutePosition(170);
brake(4); // shut off all motors
goToAbsolutePosition(376); // coast until a distance of 376 marks
reverse(4); // reverse the AEV motors to stop forward movement
motorSpeed(1,40); // set the motor to 40% power
goFor(1); // runs the motor at 40% power in the backwards direction for 1 sec to stop the AEV
brake(4); // stops all motors
goFor(7); // wait 7 seconds for gate to open
//reach R2-D2
reverse(4); // reverse the motors so the AEV travels forward
motorSpeed(1,40); // sets the motor to 40% power
goToAbsolutePosition(560); // run the motor to a distance of 560 marks
brake(4); // shut off all motors
goFor(12); // coast the rest of the way to the R2D2 and then wait 5 seconds
//reach gate
reverse(4); // reverse the motors so the AEV travels backwards toward the gate
motorSpeed(2,75); // sets the second motor to 75% power
//run the motor for 4 seconds to get the AEV moving with the R2D2
goFor(4);
motorSpeed(2,20); // set the second motor to 15% power
goToAbsolutePosition(465); // drive until mark 465
brake(4); // shut off all motors
reverse(4); // reverse the AEV motors to stop forward movement
motorSpeed(2,65); // sets the second motor to 50% power
goFor(1); // runs the motor at 50% power in the reverse direction for 1 sec to stop the AEV
brake(4); // stops all motors
goFor(7); // wait 7 seconds for gate to open
//reach end
reverse(4); // reverse the motors
motorSpeed(2,75); // sets the second motor to 75% power
goFor(4); // run the motor at a high power to get the AEV moving with the cargo
motorSpeed(2,30); // set the second motor to 30% power
goToAbsolutePosition(55); // run until 55 marks from the start of the track
brake(4); // shuts off all motors
reverse(4); // reverse the AEV motors to stop forward movement
motorSpeed(2,60); // sets the second motor to 30% power
goFor(1); // runs the motor at 30% power in the backwards direction for 1 sec to stop the AEV
brake(4); // stops all motors