Arduino Code

Arduino Function Glossary

All functions were created and adopted from the Preliminary R&D guide (P R&D),

  • celerate(m,p1,p2,t) – accelerates or decelerates the input motor (denoted m) from the initial power (denoted p1) to the final power (denoted p2) across a given amount of seconds (denoted t). Input 4 for m to accelerate all motors
  • goFor(t) – maintains the last state of the motors for t seconds
  • brake(m) – brakes the input motor. Input 4 to brake all motors
  • reverse(m) – reverses the input motor. Input 4 to reverse all motors
  • goToRelativePosition(n) – continues the previous command for n marks (1 mark = .4875 inches) from the vehicles current position. The variable n can be positive or negative. Positive denotes a distance of n marks in front of the AEV while negative denotes a distance n marks behind the AEV.
  • goToAbsolutePosition(n) – Continues the previous command for n marks relative to the overall starting position of the AEV.

Preliminary R&D Activity 1 Arduino C0de

//accelerate motor 1, from 0% to 15%, over 2.5 sec

celerate(1,0,15,2.5);

//run last command (motor 1 at 15% power) for 1 sec

goFor(1);

//brake motor 1

brake(1);

//accelerate motor 2, from 0% to 27%, over 4 sec

celerate(2,0,27,4);

//run last command (motor 2 at 27% power) for 2.7 sec

goFor(2.7);

//decelerate motor 2, from 27% to 15%, over 1 sec

celerate(2,27,15,1);

//brake motor 2

brake(2);

//reverse motor 2

reverse(2);

//accelerate all motors, 0% to 31%, over 2 sec

celerate(4,0,31,2);

//accelerate all motors, 0% to 35%, over 1 sec

celerate(4,31,35,1);

//run last command (all motors at 35% power) for 1 sec

goFor(1);

//brake motor 2

brake(2);

//accelerate motor 1, 35% to 35%, over 1 sec

celerate(1,35,35,1);

//run last command (motor 1 at 35% power) for 3 sec

goFor(3);

//brake all motors

brake(4);

//run last command (brake all motors) for 1 sec

goFor(1);

//reverse motor 1

reverse(1);

//accelerate motor 1, 0% to 19%, over 1 sec

celerate(1,0,19,1);

//accelerate motor 2, 0% to 35%, over 1 sec

celerate(2,0,35,1);

//run last command (motor 2 at 35% power) for 2 sec

goFor(2);

//decelerate motor 2, 35% to 19%, over 1 sec

celerate(2,35,19,1);

//run last command (motor 2 at 19% power) for 2 sec

goFor(2);

//decelerate motor 1, 19% to 0 %, over 3 sec

celerate(4,19,0,3);

//brake all motors

brake(4);

Preliminary R&D Activity 2 Arduino C0de

//Exercise 2

//Reflectance sensor test

reflectanceSensorTest();

//Set all motors to 20% power

motorSpeed(4,20);

//Move the AEV 30 marks forward from the current position

goToRelativePosition(30);

//Run all motors at a constant speed of 25% power for 2 seconds.

celerate(4,0,25,2);

//Set all motors to 20% power

motorSpeed(4,20);

//Go to the position at mark 295 on the track (approx. 12 feet)

goToAbsolutePosition(295);
//Reverse motors.
reverse(4);
//Run all motors at a constant speed of 30% power for 1.5 second.
celerate(4,0,30,1.5);
//Brake all motors.
brake(4);

Preliminary R&D Activity 3 Arduino Code

//Exercise 3
//Accelerate all motors from 0% to 25% across 3 seconds
celerate(4,0,25,3);
//Run motors at current state (25% power) for 1 second
goFor(1);
//Decelerate all motors from 25% to 20% power across 2 seconds
celerate(4,25,20,2);
//Reverse all motors
reverse(4);
//Accelerate all motors (going backwards now) from 0% to 25% power across 2 seconds
celerate(4,20,25,2);
//Brake all motors
brake(4);

Advanced R&D 1 Arduino Code

//Advanced R&D Exercise 1
//—————————————————-
//Preliminary Reflectance Sensor Test
//Reflectance sensor test
reflectanceSensorTest();

//—————————————————-
//Start Activation Sequence

//Set all motors to 0% power
motorSpeed(4,0);

//Go to the position 16 marks behind current position
goToRelativePosition(-16);

//Set all motors to 0% power
motorSpeed(4,0);

//Continue last command (motors at 0% power) for 2 seconds
goFor(2);

//—————————————————-
//Begin Low Power Test

//Set all motors to 30% power
motorSpeed(4,30);

//Go to the position 100 marks away from the AEV
goToRelativePosition(100);

//Brake all motors
brake(4);

//Set all motors to 0% power
motorSpeed(4,0);

//Continue last command (motors at 0% power) for 2 seconds
goFor(2);

//—————————————————-
//Begin Medium Power Test

//Set all motors to 35% power
motorSpeed(4,35);

//Go to the position 100 marks away from the AEV
goToRelativePosition(100);

//Brake all motors
brake(4);

//Set all motors to 0% power
motorSpeed(4,0);

//Continue last command (motors at 0% power) for 2 seconds
goFor(2);

//—————————————————-
//Begin High Power Test

//Set all motors to 40% power
motorSpeed(4,40);

//Go to the position 100 marks away from the AEV
goToRelativePosition(100);

//Brake all motors
brake(4);

//Set all motors to 0% power
motorSpeed(4,0);

//Continue last command (motors at 0% power) for 2 seconds
goFor(2);

Advanced R&D 2 Arduino Code

//—————————————————-
//Start Activation Sequence

//Set all motors to 0% power
motorSpeed(4,0);

//Go to the position 16 marks behind current position
goToRelativePosition(-16);

//Set all motors to 0% power
motorSpeed(4,0);

//Continue last command (motors at 0% power) for 2 seconds
goFor(2);

//—————————————————-

//Trial 1 with Caboose

//Set all motors to 35% power
motorSpeed(4,35);

//Go to the position 100 marks away from the AEV
goToRelativePosition(100);

//Brake all motors
brake(4);

//Set all motors to 0% power
motorSpeed(4,0);

//Continue last command (motors at 0% power) for 2 seconds
goFor(2);

//—————————————————-

//Trial 2 Test with Caboose

//Set all motors to 40%power
motorSpeed(4,40);

//Go to the position 100 marks away from the AEV
goToRelativePosition(100);

//Brake all motors
brake(4);

//Set all motors to 0% power
motorSpeed(4,0);

//Continue last command (motors at 0% power) for 2 seconds
goFor(2);

//—————————————————-

// Trial 3 with Caboose

//Set all motors to 45%power
motorSpeed(4,45);

//Go to the position 100 marks away from the AEV
goToRelativePosition(100);

//Brake all motors
brake(4);

//Set all motors to 0% power
motorSpeed(4,0);

//Continue last command (motors at 0% power) for 2 seconds
goFor(2);

//—————————————————-

//Trial 4 with Caboose

//Set all motors to 50%power
motorSpeed(4,50);

//Go to the position 100 marks away from the AEV
goToRelativePosition(100);

//Brake all motors
brake(4);

//Set all motors to 0% power
motorSpeed(4,0);

//Continue last command (motors at 0% power) for 2 seconds
goFor(2);

//—————————————————-

//Trial 5 with Caboose

//Set all motors to 55%power
motorSpeed(4,55);

//Go to the position 100 marks away from the AEV
goToRelativePosition(100);

//Brake all motors
brake(4);

//Set all motors to 0% power
motorSpeed(4,0);

//Continue last command (motors at 0% power) for 2 seconds
goFor(2);

Advanced R&D 3 Arduino Code

Test 1 Code – Friction Cover Slide Distance

//Set all motors to 0% power 

motorSpeed(4,0); 

//Continue last command (motors at 0% power) for 2 seconds

goFor(2); 

//Set all motors to 45% power 

motorSpeed(4,45); 

//Continue last command (motors at 45% power) for .5 seconds) 

goFor(.5); 

//gradually increase motor power from 15 to 45%  

//for(int i = 25; i <= 45; i++) {  

// 

//  celerate(4,i,i+1,.05); 

// 

//} 

// 

//brake(4); 

//Set all motors to 25% power

motorSpeed(4,25); 

//Go to the position -20 marks away from the AEV

goToRelativePosition(-20); 

//Set all motors to 30% power

motorSpeed(4,30); 

//Go to the position -20 marks away from the AEV

goToRelativePosition(-20); 

//Set all motors to 35% power

motorSpeed(4,35); 

//Go to the position -20 marks away from the AEV

goToRelativePosition(-20); 

//Set all motors to 40% power

motorSpeed(4,40); 

//Go to the position -20 marks away from the AEV

goToRelativePosition(-20); 

//Set all motors to 45% power

motorSpeed(4,45); 

//Go to the position -20 marks away from the AEV

goToRelativePosition(-20); 

 

Test 2 Code – Friction Cover and Slide Distance

//AR&D 3 Test 1 

//Set all motors to 0% power 

motorSpeed(4,0); 

//Continue last command (motors at 0% power) for 2 seconds) 

goFor(2); 

//Set all motors to 0% power 

motorSpeed(4,45); 

//Continue last command (motors at 0% power) for 2 seconds) 

goFor(5); 

Performance Test #1 Arduino Code

The if statement was not used and will require further testing before we decide whether to incorporate it or not.

//Performance Test 1

//Stop running at mark 266.6667

//13 is start. 157 is beginning sensor

//Reverse all motors

reverse(4);

//Set all motors to 35% power

motorSpeed(4,30);

//Go to the relative postition

goToRelativePosition(243);

//Brake all motors

brake(4);

//Set all motors to 0% power

motorSpeed(4,0);

////Continue last command (motors at 0% power) for 2 seconds)

//goFor(2);

////If the vehicle undershot the sensor, go to the sensor at 30% power

//if (getVehiclePostion() < 295) {

//    motorSpeed(4,30);

//    goToRelativePosition(295 – getVehiclePostion());

//}

//Continue last command (motors at 0% power) for 7 seconds

goFor(8);

//Set all motors to 35% power

motorSpeed(4,30);

//Go to the relative postition

goToRelativePosition(243);

Performance Test #2 Arduino Code

//Performance Test 2 

//Stop running at mark 266.6667 

//13 is start. 157 is beginning sensor 

//Set all motors to 0% power 

motorSpeed(4,0); 

//Continue last command (motors at 0% power) for 2 seconds 

goFor(2); 

//Reverse all motors 

reverse(4); 

//Set all motors to 35% power 

motorSpeed(4,35); 

//Go to the relative postition 222 marks away from the AEV

goToRelativePosition(222); 

//Brake all motors 

brake(4); 

//Set all motors to 0% power 

motorSpeed(4,0); 

//Continue last command (motors at 0% power) for 8 seconds 

goFor(8);   

//Continue after gate 

//Set all motors to 40% power 

motorSpeed(4,40); 

//Continue last command (motors at 40% power) for .25 seconds 

goFor(.25); 

//Set all motors to 35% power 

motorSpeed(4,35); 

//Go to the relative postition 218 marks away from the AEV

goToRelativePosition(218); 

//Connect to caboose, wait, then leave load zone 

//Reverse all motors 

reverse(4); 

//Set all motors to 0% power 

motorSpeed(4,0); 

//Continue last command (motors at 0% power) for 2 seconds) 

goFor(5); 

//Set all motors to 45% power 

motorSpeed(4,45); 

//Continue last command (motors at 45% power) for 2 seconds) 

goFor(2); 

________________________________________________________________________________

Performance Test #3 (Final Performance Test) Arduino Code

Trial 1 Code

//Set all motors to 0% power

motorSpeed(4,0);

//Continue last command (motors at 0% power) for 2 seconds

goFor(2);

//Reverse all motors

reverse(4);

//Set all motors to 35% power

motorSpeed(4,35);

//Go to the relative postition 270 marks in front of the vehicle

goToRelativePosition(268);

//Brake all motors

brake(4);

//Set all motors to 0% power

motorSpeed(4,0);

//Continue last command (motors at 0% power) for 7 seconds
goFor(8);
//Continue after gate
//Set all motors to 35% power
motorSpeed(4,40);
//Continue last command (motors at 0% power) for 7 seconds
goFor(.25);
//Set all motors to 35% power
motorSpeed(4,35);
//Go to the relative postition 275 in front of the AEV
goToRelativePosition(225);
//Set all motors to 35% power
motorSpeed(4,25);
//Go to the relative postition 57
goToRelativePosition(61);
//Connect to caboose, wait, then leave load zone
//Reverse all motors
reverse(4);
//Set all motors to 0% power
motorSpeed(4,0);
//Continue last command (motors at 0% power) for 2 seconds)
goFor(5);
//Set all motors to 0% power
motorSpeed(4,45);
//Go to the relative postition 204 marks in behind of the vehicle
goToRelativePosition(216);
//Set all motors to 0% power
motorSpeed(4,0);
//Continue last command (motors at 0% power) for 7 seconds
goFor(8);
//continue after the gate on the way back

//Set all motors to 35% power

motorSpeed(4,45);

//Set all motors to 35% power

motorSpeed(4,45);

//Go to the relative postition 227 behind the vehicle

goToRelativePosition(233);

 

Trials 2 and 3 Code

//Set all motors to 0% power

motorSpeed(4,0);

//Continue last command (motors at 0% power) for 2 seconds

//goFor(2);

//Reverse all motors

reverse(4);

//Set all motors to 35% power

motorSpeed(4,35);

//Go to the relative postition 271 marks in front of the vehicle

goToRelativePosition(269);

//Brake all motorsbrake(4);//Set all motors to 0% powermotorSpeed(4,0);
//Continue last command (motors at 0% power) for 7 seconds
goFor(8);
//Continue after gate
//Set all motors to 35% power
motorSpeed(4,40);
//Continue last command (motors at 0% power) for 7 seconds
goFor(.25);
//Set all motors to 35% power
motorSpeed(4,35);

//Go to the relative postition 225goToRelativePosition(229);
//Set all motors to 35% powermotorSpeed(4,25);
//Go to the relative postition 57goToRelativePosition(61);

//Connect to caboose, wait, then leave load zone

//Reverse all motors

reverse(4);

//Set all motors to 0% power

motorSpeed(4,0);

//Continue last command (motors at 0% power) for 2 seconds)

goFor(5);

//Set all motors to 0% power

motorSpeed(4,45);

//Go to the relative postition 224 marks in behind of the vehicle

goToRelativePosition(227);

//Set all motors to 0% power

motorSpeed(4,0);

//Continue last command (motors at 0% power) for 7 seconds

goFor(8);

//continue after the gate on the way back

//Set all motors to 35% power

motorSpeed(4,45);

//Set all motors to 35% power

motorSpeed(4,45);

//Go to the relative postition 240 behind the vehicle

goToRelativePosition(242);