Final Program

//Initial forward movement
celerate(4,0,48,2);                      //accelerate from 0 to 48 percent power in 2 seconds
goToAbsolutePosition(-230); //go to absolute position, -230 ticks
brake(4);                                     //brake all motors
//Slow down process for gate halt
reverse(4);                                 //reverse all motors
motorSpeed(4,65);                  //set all motors to 65 percent power
goFor(1);                                   //go for one second at set power
brake(4);                                  // brake all motors
//Wait for gate to open
reverse(4);                                //reverse all motors
motorSpeed(4,0);                  //set all motors to zero percent power
goFor(7.8);                             //wait for 7.8 seconds
//Second forward movement
motorSpeed(4,48);               //set all motors to 48 percent power
goToAbsolutePosition(-465); //go to absolute position,-465 ticks
brake(4); //Brake all motors
//Slow down process for caboose latch
reverse(4);                                //reverse all motors
motorSpeed(4, 50);               //set all motors to 50 percent power
goFor(1);                                  //go for 1 second at set power
reverse(4);                              //reverse direction of the motors
//Wait for caboose latch process
motorSpeed(4,0);               //set all motor power to zero
goFor(6);                            //wait for 6 seconds
reverse(4);                          //reverse all motors
//Initial movement with caboose
motorSpeed(4, 62);                    //all motors set to 62 percent power
goToAbsolutePosition(-418); //go to absolute position-418 ticks
brake(4);                                     //brake all motors
//Slow down process with caboose at gate
reverse(4);                             //reverse all motors
motorSpeed(4,70);               //all motors set to 70 percent power
goFor(1.5);                            //go for 1.5 seconds
brake(4);                               //brake all motors
reverse(4);                           //reverse all motors
//Wait at gate, then start Second movement (past gate) with caboose
motorSpeed(4,0);               //set motors to zero percent power
goFor(7.8);                       //wait for 7.8 seconds
motorSpeed(4,60);       //set all motors to 60 percent power
goToAbsolutePosition(-155); //go toabsolute position- 155 ticks
//end brake sequence
reverse(4);                       //reverse all motors
motorSpeed(4, 57);      //set all motors to 57 percent power
goFor(3.0);                   //go for 3 seconds
reverse(4);                  //reverse motors
//end
brake(4);                  //brake all motors