| celerate(m, p1, p2, t) | Accelerates or decelerates motor(s) from start speed (%) to end speed (%) in duration of time |
| motorSpeed(m,p) | Starts motors at certain power percentage |
| goFor(t) | Keeps the motors running for a certain amount of time |
| Brake(m) | Brakes the motor(s) |
| Reverse(m) | Reverses the direction of the motor(s) |
| goToRelativePosition(n) | Continues previous command for a given amount of marks for the vehicle’s current position |
| goToAbsolutePositoin(n) | Continues previous command for a given number of makers for the vehicle’s overall starting position |
Reference: “Preliminary R&D” The Ohio State University, Jan. 2018