Appendix
Arduino Code
//begin to accelerate motor1 from start to 15% power in 2.5 sec
celerate(1,0,15,2.5);
// constant speed for motor1
motorSpeed(1,15);
//hold one for 1 sec
goFor(1);
//brake motor one
brake(1);
// accelerate motor2 from start to 27% power in 4 sec
celerate(2,0,27,4);
//constant speed for motor one
motorSpeed(2,27);
// hold one for 2.7 sec
goFor(2.7);
//brake motor2
brake(2);
//reverse direction of only motor2
reverse(2);
//accelerate all motors from start to 31% power in 2 sec
celerate(4,0,31,2);
//constant speed 35% for all
motorSpeed(4,35);
//hold for 1 sec
goFor(1);
//brake motor two
brake(2);
//keep motor one running at a constant speed
motorSpeed(1,35);
//hold for 3 sec
goFor(3);
//brake all motors
brake(4);
//hold for one sec
goFor(1);
//reverse direction of motor one
reverse(1);
//accelerate motor1 from start to 19% power over 2 sec
celerate(1,0,19,2);
//run motor2 at 35%
motorSpeed(2,35);
//goFor(2);
//run motor1 at 19%
motorSpeed(1,19);
//hold for 2 sec
goFor(2);
// run both motors at constant speed 19%
motorSpeed(4,19);
//hold for 2 sec
goFor(2);
//decelerate both motors to 0% in 3 sec
celerate(4,19,0,3);
//brake all motors
brake(4);