Code Glossary:
celerate(m,p1,p2,t);
- Accelerates motor(s) from speed 1 to speed 2 in t seconds.
motorSpeed(m,p);
- Runs motor(s) at specified power
goFor(t);
- Runs motor(s) at predetermined state for t seconds.
brake(m);
- Brakes (cuts power to) specified motor(s)
reverse(m);
- Reverses direction of specified motor(s)
goToRelativePosition(n);
- Goes n marks, either forwards or backwards (positive or negative n values) from current position
goToAbsolutePosition(n);
- Goes n marks relative to starting position of vehicle.
Exercise 1: Programming Basic Code
celerate(1,0,15,2.5);
-Accelerates motor one to 15% power in 2.5 seconds
motorSpeed(1,15);
-motor one runs at 15% power
goFor(1);
-runs for 1 second
brake(1);
-brakes motor 1
celerate(2,0,27,4);
-accelerates motor two to 27% power in 4 seconds
motorSpeed(2,27);
-runs motor two at 27% power
goFor(2.7);
-runs for 2.7 seconds
celerate(2,27,15,1);
-decelerates motor 2 from 27% power to 15% power in 1 second
brake(2);
-brake motor 2
reverse(2);
-reverse motor 2
celerate(4,0,31,2);
-accelerates all motors to 31% power in 2 seconds
motorSpeed(4,35);
-runs both motors at 35% power
goFor(1);
-runs for 1 second
brake(2);
-brakes motor 2
motorSpeed(1,35);
-runs motor 2 at 35% power
goFor(3);
-runs for 3 seconds
brake(4);
-brakes both motors
goFor(1);
-brakes for 1 second
reverse(1);
-reverses motor 1
celerate(1,0,19,2);
-accelerates motor one to 19% power in 2 seconds
motorSpeed(2,35);
-sets speed of motor one to 35% power
motorSpeed(1,19);
-sets speed of motor 2 to 19% power
goFor(2);
-runs both motors for 2 seconds
motorSpeed(4,19);
-runs both motors at 19% power
goFor(2);
-runs for 2 seconds
celerate(4,19,0,3);
-decelerates to 0% power in 3 seconds
brake(4);
-brakes all motors
Exercise 2 Reflectance Sensor Code
motorSpeed(4,25);
-sets both motors to 35% power
goFor(2);
-runs both motors for 2 seconds
motorSpeed(4,20);
-runs both motors at 20% power
goToAbsolutePosition(295);
-goes to position of 295 marks
reverse(4);
-reverses both motors
motorSpeed(4,30);
-runs both motors at 30% power
goFor(1.5);
-runs motors for 1.5 seconds
brake(4);
-brakes both motors
Exercise 4: Design Analysis Tool Code
celerate(4,0,25,3);
-accelerates both motors to 25% power in 3 seconds
motorSpeed(4,25);
-runs both motors at 25% power
goFor(1);
-runs for 1 second
reverse(4);
-reverses both motors
motorSpeed(4,25);
-runs both motors at 25% power
goFor(2);
-runs for 3 seconds
brake(4);
-brakes both motors
Advanced Research and Development Code:
code for propeller config pull-push system:
celerate(4,0,50,3);
-accelerates both motors to 50% power in 3 seconds
motorSpeed(4,50);
-runs both motors at 50% power
goFor(2);
-runs for 2 seconds
brake(4);
-brakes both motors
goFor(2);
-brakes for 2 seconds
reverse(4);
-reverses both motors
motorSpeed(4,50);
-runs both motors at 50% power
goFor(3);
-runs for 3 seconds
code for propeller config push-pull system and motor config:
reverse(4);
-reverses both motors (start from push configuration)
celerate(4,0,50,3);
-accelerates both motors to 50% power in 3 seconds
motorSpeed(4,50);
-runs both motors at 50% power
goFor(2);
-runs for 2 seconds
brake(4);
-brakes both motors
goFor(2);
-brakes for 2 seconds
reverse(4);
-reverses both motors (pull configuration)
motorSpeed(4,50);
-runs both motors at 50% power
goFor(3);
-runs for 3 seconds
Performance Test 1 Design 1
celerate(4,0,30,30;
-accelerates both motors from 0 to 30% power in 3 seconds
motorSpeed(4,30);
-runs both motors at 30% power
goToRelativePosition(230);
-AEV goes 230 marks relative to where it was
brake(4);
-brakes both motors
goFor(10);
-brakes for 10 seconds
motorSpeed(4,30);
-runs both motors at 30% power
goFor(2);
-runs for 2 seconds
Performance Test 1 Design 2
celerate(4,0,30,3);
-accelerates both motors from 0 to 30% power in 3 seconds
motorSpeed(4,30);
-runs both motors at 30% power
goToRelativePosition(200);
-AEV goes 200 marks relative to where it was
brake(4);
-brakes both motors
goFor(10);
-brakes for 10 seconds
motorSpeed(4,30);
-runs both motors at 30% power
goFor(2);
-runs for 2 seconds
Performance Test 2 Code 1
reverse(4);
-reverse all motors
celebrate(4,0,30,3);
-accelerates all motors from 0 to 30% power in 3 seconds
motorSpeed(4,30);
-runs all motors at 30% power
goToRelativePosition(223.5);
-AEV goes 223.5 marks relative to current position
brake(4);
-brakes all motors
goFor(11);
-brakes for 11 seconds
celerate(4,0,30,2);
-accelerates all motors from 0 to 30% power in 2 seconds
motorSpeed(4,30);
-runs all motors at 30% power
goToRelativePosition(105);
-AEV goes 105 marks relative to current position
brake(4);
-brakes all motors
goFor(10);
-brakes for 10 seconds
reverse(4);
-reverses all motors
celerate(4,0,40,2);
-accelerates all motors from 0 to 40% power in 2 seconds
motorSpeed(4,40);
-runs all motors at 40% power
goToRelativePosition(-120);
-AEV goes -120 marks relative to current position
brake(4);
-brakes all motors
Performance Test 2 Code 2
reverse(4);
– reverse all motors
celerate(4,0,65,2);
-accelerates all motors from 0 to 65% power in 2 seconds
motorSpeed(4,65);
-runs all motors at 65% power
goToRelativePosition(67.2);
-AEV goes 67.2 marks relative to current position
brake(4);
-brakes all motors
goFor(11);
-brakes for 11 seconds
celerate(4,0,65,2);
-accelerates all motors from 0 to 65% in 2 seconds
motorSpeed(4,65);
-runs all motors at 65% power
goToRelativePosition(30);
– AEV goes 30 marks relative to current position
brake(4);
-brakes all motors
goFor(11);
-brakes for 11 seconds
reverse(4);
-reverses all motors
celerate(4,0,70,2);
– accelerates all motors from 0 to 70% in 2 seconds
motorSpeed(4,70);
– runs all motors at 65% power
goToRelativePosition(-50);
– AEV goes -50 marks relative to current position
brake(4);
-brakes all motors
Performance Test 3 / Final Test Code
reverse(4);
– reverse all motors
celebrate(4,0,30,3);
-accelerates all motors from 0 to 30% power in 3 seconds
motorSpeed(4,30);
-runs all motors at 30% power
goToRelativePosition(218);
-AEV goes 218 marks relative to current position
brake(4);
-brakes all motors
goFor(10.5);
-brakes for 10.5 seconds
celerate(4,0,65,2);
-accelerates all motors from 0 to 65% in 2 seconds
motorSpeed(4,65);
-runs all motors at 65% power
goToRelativePosition(25);
– AEV goes 25 marks relative to current position
brake(4);
-brakes all motors
goFor(11);
-brakes for 11 seconds
reverse(4);
-reverses all motors
celerate(4,0,60,2);
-accelerates all motors from 0 to 60% in 2 seconds
motorSpeed(4,60);
-runs all motors at 60% power
goToRelativePosition(-193);
– AEV goes -193 marks relative to current position
brake(4);
-brakes all motors
reverse(4);
-reverses all motors
motorSpeed(4,60);
-runs all motors at 60% power
goFor(2);
-runs for 2 seconds
brake(4);
-brakes all motors
goFor(8);
-brakes for 8 seconds
reverse(4);
-reverses all motors
celerate(4,0,65,2);
-accelerates all motors from 0 to 65% in 2 seconds
motorSpeed(4,65);
-runs all motors at 65% power
goToRelativePosition(-42);
– AEV goes -42 marks relative to current position
brake(4);
-brakes all motors
goToRelativePosition(-262);
– AEV goes -262 marks relative to current position
reverse(4);
-reverses all motors
motorSpeed(4,60);
-runs all motors at 60% power
goFor(.75);
-runs for 2 seconds
brake(4);
-brakes all motors