The AEV uses a library of commands developed by the Department of Engineering [2].
Commands:
celerate(m, p1, p2, t);
Accelerates motor m from power p1 to p2 in t seconds.
motorSpeed(m, p);
Sets motor m to power p.
goFor(t);
Runs the current power settings for t seconds before moving on in the code.
brake(m);
Cuts power to motor m.
reverse(m);
Reversed the direction of motor m.
goToRelativePosition(n);
Runs the current power settings until the position n (relative to the current position) is reached.
goToAbsolutePosition(n);
Runs the current power settings until the position n (relative to the starting position) is reached.
reflectanceSensorTest();
Tests the reflectance sensors.
Note: when a number is given for the motor, 1 or 2 can be used to control individual motors or 4 can be used for all motors.