Lab 1

 celerate(1,0,15,2.5);

 //Motor 1 set to 15% power

 motorSpeed(1,15);

 //Previous command for one second

 goFor(1);

 // Brake motor one.

 brake(1);  

 // Accelerate motor 2 from 0 to 21 over 4 seconds

 celerate(2,0,27,4);

 //Motor 2 set to 27% power

 motorSpeed(2,27);

 //Previous Command for 2.7 seconds

 goFor(2.7);

 //Decelerate motor 2 from 27 to 15 over 1 second

 celerate(2,27,15,1);

 //Brake motor 2

 brake(2);

 //Reverse polarity of motor 2

 reverse(2);

 //accelerate all motors from 0 to 31 over 2 seconds

 celerate(4,0,31,2);

 //All motors set to 35%

 motorSpeed(4,35);

 //Previous command for 1 second

 goFor(1);

 //Brake motor 2

 brake(2);

 //Motor 1 set to 35%

 motorSpeed(1,35);

 //Previous command for 3 seconds

 goFor(3);

 //Brake all motors

 brake(4);

 //Previous command for 1 second

 goFor(1);

 //Reverse polarity of motor 1

 reverse(1);  

 //Accelerate motor 1 from 0 to 19 over 2 seconds

 celerate(1,0,19,2);

 //Motor 2 set to 35%

 motorSpeed(2,35);

 //Motor 1 set to 19%

 motorSpeed(1,19);

 //Previous command for 2 seconds

 goFor(2);

 //All motors set to 19%

 motorSpeed(4,19);

 //Previous command for 2 seconds

 goFor(2);

 //Decelerate all motors from 19 to 0 over 3 seconds

 celerate(4,19,0,3);

 //Brake all motors

 brake(4);

Arduino Code for Lab 1 Scenario 2:

 //Declare counter for while loops

  int x=0;

 //reverse all motors

 reverse(4);

 //Loop three times

 while(x!=3)

 {

 //Set all motor's to 25% power

 motorSpeed(4,25);

 //Previous command for .1 seconds

 goFor(.1);

 //Stops all motors

 brake(4);

 //Previous command for .1 seconds

 goFor(.1);

 //add one to counter

 x=x+1;

 //end loop

 }

 //All motors to 15% power

 motorSpeed(4,15);

 //Previous command for .3 seconds

 goFor(.3);

 //Stop all motors

 brake(4);

 //Previous command for .05 seconds

 goFor(.05);

 //All motors to 40% power

 motorSpeed(4,40);

 //Previous command for .3 seconds

 goFor(.3);

 //Set all motors to 25% power

 motorSpeed(4,25);

 //Previous command for .5 seconds

 goFor(.5);

 //Set all motors to 15% power

 motorSpeed(4,15);

 //Previous command for .3 seconds

 goFor(.3);

 //Brake all motors

 brake(4);

 //Previous command for .05 seconds

 goFor(.05);

 //Set all motors to 40% power

 motorSpeed(4,40);

 //Previous command for .3 seconds

 goFor(.3);

 //Set all motors to 25% power

 motorSpeed(4,25);

 //Previous command for .5 seconds

 goFor(.5);

 //Brakes all motors

 brake(4);

 //Previous command for .05 seconds

 goFor(.05);

 //reset loop counter

 x=0;

 //Loop 2 times

 while(x!=2)

 {

 //Set all motors to 55% power

 motorSpeed(4,55);

 //brake all motors

 brake(4);

 //Previous command for .05 seconds

 goFor(.05);

 //add one to counter

 x=x+1;

 }

 //Set all motors to 65% power

 motorSpeed(4,65);

 //Previous command for .3 seconds

 goFor(.3);

 //Stop all motors

 brake(4);

 //Previous command for .05 seconds

 goFor(.05);

 //Set all motors to 40% power

 motorSpeed(4,40);

 //Previous command for .3 seconds

 goFor(.3);

 //Set all motors to 25% power

 motorSpeed(4,25);

 //Previous command for .5 seconds

 goFor(.5);

 //Set all motors to 15% power

 motorSpeed(4,15);

 //Previous command for .3 seconds

 goFor(.3);

 //Stop all motors

 brake(4);

 //Previous command for .05 seconds

 goFor(.05);

 //Set all motors to 40% power

 motorSpeed(4,40);

 //Previous command for .3 seconds

 goFor(.3);

 //Set all motors to 25% power

 motorSpeed(4,25);

 //Previous command for .5 seconds

 goFor(.5);

 //Stops all motors