Deliverables:
Glossary: This is a glossary of function calls used to program the AEV to help those who are unfamiliar with programming.
celerate(m,p1,p2,t); has motor(s) m go from starting power p1 to final power p2 in t seconds
motorSpeed(m,p); runs motor(s) m at power p
goFor(t); runs motors at set condition for t seconds
brake(m); shuts of power to motor(s) m
reverse(m); reverses direction of motor(s) m
goToRelativePosition(n); moves the AEV to distance n from position at start of the command
goToAbsolutePosition(n); moves the AEV to distance n from starting position
celerate(1,0,15,2.5); // accelerate motor 1 from 0 to 12 in 2.5 seconds
motorspeed(1,15); goFor(1); // run motor one at 15 for 1 second
brake(1); // brake motor 1
celerate(2,0,27,4); // accelerate motor 2 from 0 to 27 in 4 seconds
motorspeed(2,15); goFor(1); // run motor 2 at 15 for 1 second
brake(2); // brake motor 2
reverse(2); // reverse motor 2
celerate(4,0,31,2); // accelerate all motors from 0 to 31 in 2 seconds
motorspeed(4,35); goFor(1); // run all motors at 35 for 1 second
brake(2); // brake motor 2
motorspeed(1,35); goFor(3); // run motor 1 at 35 for 3 seconds
brake(4); goFor(1); // brake all motors for 1 second
reverse(1); // reverse motor 1
celerate(1.0,19,2); // accelerate motor 1
motorspeed(2,35);
motorspeed(1,19); goFor(2); // run motor 1 at 19 and motor 2 at 35 for 2 seconds
motorspeed(4,19); goFor(2); // run all motors at 19 for 2 seconds
celerate(4,19,0,3); // decelerate all motors from 19 to 0 in 3 seconds
brake(4); // brake all motors