Performance Test Final

Final Performance Test Code:

 reverse(4);

 

 // Phase 1

 

 //Approach gate

 motorSpeed(4, 29.7);

 goToAbsolutePosition(-228);

 

 //Coast to gate

 brake(4);

 goToAbsolutePosition(-272);

 

 //Brake at gate

 reverse(4);

 motorSpeed(4, 50);

 goFor(1);

 

 //Wait at gate

 brake(4);

 goFor(7.5);

 

 // Phase 2

 

 //Leave gate

 reverse(4);

 motorSpeed(4, 29);

 goToAbsolutePosition(-381);

 

 //Coast to loading zone and wait to exit

 brake(4);

 goToAbsolutePosition(-620);

 goFor(6);

 

 // Phase 3

 

 //Approach gate

 reverse(4);

 motorSpeed(4, 50);

 goToAbsolutePosition(-418);

 

 //Coast to gate

 brake(4);

 goToAbsolutePosition(-372);

 

 //Brake at gate

 reverse(4);

 motorSpeed(4, 50);

 goFor(1);

 

 //Wait at gate

 brake(4);

 goFor(7.5);

 

 // Phase 4

 

 //Leave gate

 reverse(4);

 motorSpeed(4, 60);

 goToAbsolutePosition(-224);

 

 //Coast to starting dock

 brake(4);

 goToAbsolutePosition(-120);

 

 //Brake at starting dock

 reverse(4);

 motorSpeed(4,40);

 goFor(2);

 

 //Coast for end data collection

 brake(4);

 goFor(7);