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Code used for aR&D 1, Coasting vs Power-Braking:
//run all motors at 25% power for 125 marks
motorSpeed(4,25);
goToRelativePosition(125);
//run all motors at 30% power for 125 marks
motorSpeed(4,30);
goToRelativePosition(125);
//run all motors at 35% power for 125 marks
motorSpeed(4,35);
goToRelativePosition(125);
Code used for aR&D 2, Battery Testing:
//run all motors at 30% power for 40 marks
motorSpeed(4,30);
goToRelativePosition(40);
//run all motors at 30% power for 50 marks
motorSpeed(4,30);
goToRelativePosition(50);
Code for aR&D 3, Pusher vs. Puller
reverse(4);
motorSpeed(4,30);
goToRelativePosition(225);
//Brake all motors at 16 marks, then reverse
brake(4);
goToRelativePosition(40);
reverse(4);
//Run all motors at a constant speed (20% power) for 1.5 seconds
motorSpeed(4,20);
goFor(1.5);
//Brake all motors for 7 seconds
brake(4);
goFor(7);
//Reverse all motors, then run at a constant speed (30% power) to 205 marks, then reverse
reverse(4);
motorSpeed(4,30);
Code used for a successful run of the first performance test:
// Run all motors at a constant speed (23% power) to 122 marks
motorSpeed(4,23);
goToRelativePosition(122);
//Brake all motors at 20 marks, then reverse
brake(4);
goToRelativePosition(16);
reverse(4);
//Run all motors at a constant speed (15% power) for 1.5 seconds
motorSpeed(4,20);
goFor(1.5);
//Brake all motors for 7 seconds
brake(4);
goFor(7);
//Reverse all motors, then run at a constant speed (25% power) to 40 marks
reverse(4);
motorSpeed(4,25);
goToRelativePosition(40);
Code used for a successful run of the second performance test
// Run all motors at a constant speed (24% power) to 122 marks
motorSpeed(4,24);
goToRelativePosition(122);
//Brake all motors at 16 marks, then reverse
brake(4);
goToRelativePosition(16);
reverse(4);
//Run all motors at a constant speed (20% power) for 1.5 seconds
motorSpeed(4,20);
goFor(1.5);
//Brake all motors for 7 seconds
brake(4);
goFor(7);
//Reverse all motors, then run at a constant speed (30% power) to 205 marks, then reverse
reverse(4);
motorSpeed(4,30);
goToAbsolutePosition(205);
reverse(4);
//Brake all motors to 40 marks
brake(4);
goToRelativePosition(40);
//Run all motors at a constant speed (23% power) for 1.5 seconds
motorSpeed(4,23);
goFor(1.5);
//Brake all motors for 7 seconds
brake(4);
goFor(7);
//Run all motors at a constant speed (35% power) for 2 seconds
motorSpeed(4,35);
goFor(2);
Code used for a successful run of the final performance test
//Run all motors at a constant speed (26% power) to 230 marks
motorSpeed(4,26);
goToRelativePosition(230);
//Brake all motors at 268 marks, then reverse
brake(4);
goToAbsolutePosition(268);
reverse(4);
//Run all motors at a constant speed (26% power) for 1.5 seconds
motorSpeed(4,26);
goFor(1.5);
//Brake all motors for 7 seconds
brake(4);
goFor(7);
//Reverse all motors, then run at a constant speed (30% power) to 420 marks, then reverse
reverse(4);
motorSpeed(4,30);
goToAbsolutePosition(420);
reverse(4);
//Brake all motors to 80 marks
brake(4);
goToRelativePosition(80);
//Run all motors at a constant speed (22% power) for 2 seconds
motorSpeed(4,22);
goFor(2);
//Brake all motors for 7 seconds
brake(4);
goFor(7);
//Run all motors at a constant speed (48% power) to 455 marks
motorSpeed(4,48);
goToAbsolutePosition(455);
//Brake all motors at 393 marks, then reverse
brake(4);
goToAbsolutePosition(393);
reverse(4);
//Run all motors at a constant speed (45% power) for 1.5 seconds
motorSpeed(4,45);
goFor(1.5);
//Brake all motors for 7 seconds, then reverse
brake(4);
goFor(7);
reverse(4);
//Run all motors at a constant speed (45% power) at 237 marks
motorSpeed(4,45);
goToAbsolutePosition(237);
//Brake all motors at 65 marks, then reverse
brake(4);
goToAbsolutePosition(65);
reverse(4);
//Run all motors at a constant speed (48% power) for 2 seconds
motorSpeed(4,48);
goFor(2);