BASE ORIENTATION CODE: (Kept constant for both vertical and horizontal tests)
celerate(4,0,25,3);
// Accelerate all motors from rest to 25 percent power in 3 seconds
goFor(1);
// Go 25 power for 1 seconds
motorSpeed(4,20);
//Run all motors at 20 percent power for 2 seconds
goFor(2);
reverse(4);
//Reverse all motors
motorSpeed(4,25);
goFor(2);
//run all motors at 2 power for 2 seconds
brake(4);
//break all motors
PROPELLER CONFIGURATION: (Kept constant for both two propeller and one propeller configurations)
celerate(4,0,25,3);
// Accelerate all motors from rest to 25 percent power in 3 seconds
goFor(1);
// Go 25 power for 1 seconds
motorSpeed(4,20);
//Run all motors at 20 percent power for 2 seconds
goFor(2);
reverse(4);
//Reverse all motors
motorSpeed(4,25);
goFor(2);
//run all motors at 2 power for 2 seconds
brake(4);
//break all motors
BATTERY VOLTAGE:
Between the two tests, the only thing changed in the code is the power in order to test when the battery voltage significantly affects the vehicle and when the battery should be replaced.
45% Power Test
//Runs motors at 45% power
motorSpeed(4,45);
//Runs motors for 6 seconds
goFor(6);
//Reverses all motors
reverse(4);
//Runs motors at 50% power for 1 second
motorSpeed(4,50);
goFor(1);
40% Power Test
//Runs motors at 40% power
motorSpeed(4,40);
//Runs motors for 6 seconds
goFor(6);
//Reverses all motors
reverse(4);
//Runs motors at 50% power for 1 second
motorSpeed(4,50);
goFor(1);