Test Check: ReflectantanceSensorTest
reflectanceSensorTest();
Scenario 1: ProgramBasics
reverse();//0
celerate(1,0,15,2.5); //1. Accelerate motor one from start to 15% power in 2.5 seconds.
motorSpeed(1,15); //2. Run Motor one at a constant speed (15% power) for 1 second.
goFor(1);
brake(1); //3. Break motor one
celerate(2,0,27,4); //4. Accelerate motor two from start to 27% power in 4 seconds.
motorSpeed(2,27); //5. Run motor two at a constant speed (27% power) for 2.7 seconds.
goFor(2.7);
celerate(2,27,15,1); //6. Decelerate motor two to 15% power in 1 second.
brake(2); //7. Brake motor two.
reverse(2); //8. Reverse direction of motor two.
celerate(4,0,31,2); //9. Accel. ALL motors from start to 31% power in 2 seconds.
motorSpeed(4,35);
goFor(1); //10. Run all motors at a constant speed of 35% power for 1 second.
brake(2);
motorSpeed(1,35);
goFor(3); //11. Brake motor two but keep motor one running at a constant speed (35% power) for 3 seconds.
brake(4); //12. Brake all motors for 1 second.
reverse(1); //13. Reverse the direction of motor one.
celerate(1,0,19,2); //14. Accelerate motor one from start to 19% power over 2 seconds.
motorSpeed(2,35); //15. Run motor two at 35% power while simultaneously running motor one at 19% power for 2 seconds.
motorSpeed(1,19);
goFor(2);
motorSpeed(4,19);
goFor(2); //16. Run both motors at a constant speed (19% power) for 2 seconds.
celerate(4,19,0,3); //17. Decelerate both motors to 0% power in 3 seconds.
brake(4); //18. Brake all motors.
//19. Save Program as (Save As: ) ProgramBasic
} // DO NOT REMOVE. end of void myCode()
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Scenario 2: ExternalSensorsOutside
reverse();
motorSpeed(4,25); //Set both motors to 25% speed for 2 seconds
goFor(2);
motorSpeed(4,20); //Set both motors to 20% speed until reaches 70.2 marks
goToAbsolutePosition(70.2);
reverse(4); //Reverse both motors.
motorSpeed(4,30); //Set both motors to 30% speed for 1.5 seconds
goFor(1.5);
brake(4); //Brake both motors
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Scenario 3: CSS1
//reverse();
celerate(4,0,25,3); //Accelerate both motors from 0% to 25% in 3 seconds
motorSpeed(4,25); //Hold both motors at 25% speed for 1 second.
goFor(1);
motorSpeed(4,20); //Hold both motors at 20% speed for 2 seconds.
goFor(2);
reverse(4); // Reverse both motors, 25% speed for 2 seconds.
motorSpeed(4,25);
goFor(2);
brake(4); //Brake both motors.
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AR&D LAB CODE
reverse();//reverse originally because motors started reversed
motorSpeed(4,25);//sets all motors to 25% power
goFor(2);//executes for 2 seconds
motorSpeed(4,20);//sets the motor speed for all at 20% power
goToAbsolutePosition(100);//goes to the absolute position of 100
reverse(4);//reverse all motors
motorSpeed(4,30);//sets all motors at 30% power
goFor(1.5);//go for 1.5 seconds
brake(4);//brakes all motors
SINGLE MOTOR PERFORMANCE TEST 2 CODE
reverse(4);//reverse all motors
motorSpeed(4,35);//sets all motors to 35% power
goToAbsolutePosition(245);//goes to the absolute position of 245
brake(4);//brakes all motors
reverse(4);//reverse all motors
motorSpeed(4,38);//sets all motors to 38% power
goFor(1.50);//go for 1.5 seconds
brake(4);//brakes all motors
goFor(8);//stop for 8 seconds
reverse(4);//reverse all motors
motorSpeed(4,35);//sets all motors to 35% power
goFor(4);//go for 4 seconds
brake(1);//brake the first motor
reverse(4);//reverse all motors
motorSpeed(4,70);//sets all motors to 70% power
goFor(4);//go for 4 seconds
DUAL MOTOR PT2 CODE 1
reverse(4);//reverse all motors
motorSpeed(4,35);//sets all motors to 35% power
goToAbsolutePosition(226);//goes to the absolute position of 226
//slow down before gate
reverse(4);//reverse all motors
motorSpeed(4,23);//sets all motors to 23% power
goFor(1.75);//go for 1.75 seconds
brake(4);//brakes all motors
goFor(7.5);//stop for 7.5 seconds
//go forward
reverse(4);
motorSpeed(4,35);
goFor(2.75);
//slow down
reverse(4);//reverse all motors
motorSpeed(4,25);//sets all motors to 25% power
goFor(1.15);//go for 1.15 seconds
brake(4);//brakes all motors
//wait
goFor(10);//stop for 10 seconds
//go backwards
motorSpeed(4,50);//sets all motors to 50% power
goFor(3);//go for 3 seconds
DUAL MOTOR PT2 CODE 2
//getting to gate
reverse(4); //reverses the motor to provide forward thrust
motorSpeed(4,60); //running motors at 60% power
goFor(5.25); // doing above step for 5.25 seconds
//slowing down
reverse(4); //reversing motors to brake
motorSpeed(4,40); //running motors at 40% power
goFor(1.75); //doing above for 1.75 seconds
//stopping at gate
brake(4); //braking all motors
goFor(7.5); //waiting at gate for 7.5 seconds
//getting to caboose without pushing it back too far
reverse(4); //reversing motors to for forward thrust
motorSpeed(4,60); // running motors at 60% power
goFor(2.5); //doing the above for 2.5 seconds
//cutting motors to coast to caboose
brake(4); //stopping the motors
goFor(10); //coasting for 5 seconds and waiting at the dock for 5 seconds
reverse(4); //reversing motors to pull caboose out
motorSpeed(4,80); //running motors at 80% power
goFor(5); // doing the above for 5 seconds
brake(4); //stopping motors
PERFORMANCE TEST 3 / FINAL PT CODE
// get to gate
reverse(4); //reverse the motors
motorSpeed(4,35); //set motor speed to 35%
goToAbsolutePosition(225); //doing above until reaching 225 marks
//slow down before gate
reverse(4); //reversing motors
motorSpeed(4,23); //setting speed to 23%
goFor(1.75); //doing above for 1.75 seconds
brake(4); //braking motors
//stop for 7.5
goFor(7.5); //stopping for 7.5 seconds
//go forward
reverse(4); //reversing motors
motorSpeed(4,35); //setting speed to 35%
goFor(2.75); //going for 2.75 seconds
//slow down
reverse(4); //reverse motors
motorSpeed(4,25); //setting speed to 25%
goFor(1.15); //doing above for 1.15 seconds
brake(4); //braking motors
//wait
goFor(10); //braking for 10 seconds
//go backwards
motorSpeed(4,50); //setting speed to 50%
goFor(3); //doing above for 3 seconds
//slow down
reverse(4); //reversing motors
motorSpeed(4,25); //setting speed to 25%
goFor(2); //doing above for 2 seconds
//stop at gate
brake(4); //braking motors
goFor(.1); //doing above for .5 seconds
motorSpeed(4,25); //setting speed to 25%
goFor(1); //doing above for 1 second
brake(4); //braking the motors
goFor(7.5); //waiting for 7.5 seconds
//proceed
motorSpeed(4,55); //sets motors to 55%
goFor(4); //goes for 4 secs
reverse(4); //reverses motors
motorSpeed(4,35); //sets motor speed to 35%
goFor(3.25); // does above for 3.25 secs