The following is the description of the function that will be used to control the actions of AEV and will be used frequently in the future codes and exercise:
- celerate(m, p1, p2, t);
- accelerates (or decelerates) motor(s) m from the starting speed, p1, to the finish speed, p2, over a time span of t
- Example: celerate(1,20,45,2);
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Accelerates motor 1 from 20% to 45% power in 2 seconds.
- motorSpeed(m, p);
- runs motor(s) m at p (%) power
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Example: motorSpeed(2,16);
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Sets motor 2 speed to 16% power.
- goFor(t);
- runs the motor(s) at their current power for t seconds
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Example: goFor(5);
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Runs the motor(s) at their initialized state for 5 seconds.
- brake(m);
- brakes motor(s) m
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Example: brake(4);
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Cuts the power to all motors.
- reverse(m);
- reverses the current direction of motor(s) m
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Example: reverse(1);
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Reverses polarity of motor 1.
- goToRelativePosition(n);
- continues previous command for n marks from the current position of the vehicle (can be positive or negative)
- Example:
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motorSpeed(4,20);
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goToRelativePosition(30);
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All motors are set to 20%power, and they will continue to run at 20% power until the AEV reaches 30 marks from its current position.
- goToAbsolutePosition(n);
- continues previous command for n marks relative to the starting position of the AEV at initialization
-
Example:
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motorSpeed(4,20);
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goToAbsolutePosition(300);
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All motors are set to 20% power, and they will continue to run at 20% power until the AEV reaches 300 marks from its starting position.
(1) All Function calls and examples can be found on Preliminary R&D Lab Manual on Carmen.