The Final Performance Test required the AEV to complete all steps from Performance Tests 1 and 2, the continue with the load to the stop sign, wait for the sign to raise, and finally travel to where the AEV first started and stop with the load still attached. This was completed using the direct drive AEV design using the following code.
//Accelerate motor 2
reverse(2);
celerate(2,0,27,3);
//Go up to the stop sign
goToAbsolutePosition(259);
//Brake where needed
brake(2);
//Continue after stop sign
goFor(8);
celerate(2,0,26,2);
goFor(3);
motorSpeed(2,25);
goToAbsolutePosition(560);
brake(2);
//Continue with load
goFor(6);
reverse(2);
celerate(2,0,40,5);
goToRelativePosition(-30);
motorSpeed(2,27);
goToRelativePosition(-145);
brake(2);
//Stop at stop sign
goFor(8);
//Continue to end
celerate(2,0,34,5);
goToRelativePosition(-201);
brake(2);