The following function calls can be used to control the AEV and will be used frequently in the code:
- 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
- motorSpeed(m, p);
- runs motor(s) m at p (%) power
- goFor(t);
- runs the motor(s) at their current power for t seconds
- brake(m);
- brakes motor(s) m
- reverse(m);
- reverses the current direction of motor(s) m
- goToRelativePosition(n);
- continues previous command for n marks from the current position of the vehicle (can be positive or negative)
- goToAbsolutePosition(n);
- continues previous command for n marks relative to the starting position of the AEV at initialization
(1) Function calls and definitions courtesy of PreliminaryR&D Lab Manual