Lab Code

This page contains the code from Labs 1, 2, 4, and 5, in ascending order, below.

Lab 1:

Scenario 1
Line 1	celerate(1, 0, 15, 2.5);
Line 2	goFor(1);
Line 3	brake(1);
Line 4	celerate(2, 0, 27, 4);
Line 5	goFor(2.7);
Line 6	celerate(2, 27, 15, 1);
Line 7	brake(1);
Line 8	reverse(2);
Line 9	celerate(4, 0, 31, 2);
Line 10	goFor(1);
Line 11	brake(2);
Line 12	goFor(3);
Line 13	brake(4);
Line 14	goFor(1);
Line 15	reverse(1);
Line 16	celerate(1, 0, 19, 2);
Line 17	motorSpeed(2, 35);
Line 18	goFor(2);
Line 19	motorSpeed(2, 19);
Line 20	goFor(2);
Line 21	celerate(4, 19, 0, 3);
Line 22	brake(4);

Scenario 2
Line 1	reverse(4);
Line 2	motorSpeed(4,25);
Line 3	goFor(0.5);
Line 4	brake(4);
Line 5	goFor(0.1);
Line 6	motorSpeed(4,25);
Line 7	goFor(0.5);
Line 8	brake(4);
Line 9	goFor(0.1);
Line 10	motorSpeed(4,25);
Line 11	goFor(0.5);
Line 12	brake(4);
Line 13	goFor(0.1);
Line 14	motorSpeed(4,15);
Line 15	goFor(0.3);
Line 16	brake(4);
Line 17	goFor(0.05);
Line 18	motorSpeed(4,40);
Line 19	goFor(0.3);
Line 20	motorSpeed(4,25);
Line 21	goFor(0.5);
Line 22	motorSpeed(4,15);
Line 23	goFor(0.3);
Line 24	brake(4);
Line 25	goFor(0.05);
Line 26	motorSpeed(4,40);
Line 27	goFor(0.3);
Line 28	motorSpeed(4,25);
Line 29	goFor(0.5);
Line 30	brake(4);
Line 31	goFor(0.5);
Line 32	motorSpeed(4,55);
Line 33	goFor(0.5);
Line 34	brake(4);
Line 35	goFor(0.1);
Line 36	motorSpeed(4,55);
Line 37	goFor(0.5);
Line 38	brake(4);
Line 39	goFor(0.1);
Line 40	motorSpeed(4,55);
Line 41	goFor(0.5);
Line 42	brake(4);
Line 43	goFor(0.1);
Line 44	motorSpeed(4,65);
Line 45	goFor(0.05);
Line 46	motorSpeed(4,40);
Line 47	goFor(0.3);
Line 48	motorSpeed(4,25);
Line 49	goFor(0.5);
Line 50	motorSpeed(4,15);
Line 51	goFor(0.3);
Line 52	brake(4);
Line 53	goFor(0.05);
Line 54	motorSpeed(4,40);
Line 55	goFor(0.3);
Line 56	motorSpeed(4,25);
Line 57	goFor(0.5);
Line 58	brake(4);

 

Lab 2:

Line Numbers	Code
Line 1	motorSpeed(4, 25);
Line 2	goFor(2);
Line 3	motorSpeed(4, 20);
Line 4	goToAbsolutePosition( (int) (16 * 12 * 0.4875))
Line 5	reverse(4);
Line 6	motorSpeed(4, 30);
Line 7	goFor(1.5);
Line 8	break(4);

 

Lab 4:

Table 01-Phase Analysis and Arduino Code
Phase	Arduino Code	Distance (m)	Time (seconds) From Data	Total Energy in Joules for that Phase
1	reverse(4);  // going to the gate  motorSpeed(4, 25);  goFor(5);  //goToRelativePosition ((int) (10 * 12) / (0.4875));  brake(4);	0	0–4.983	30.504
2	goFor(10); // wait at gate 1st time	0	5.043–15.063	0.936
3	motorSpeed(4, 25); //load cargo  goFor(5);  //goToRelativePosition ((int) (10 * 12) / (0.4875));  brake(4);	0	15.123–20.043	30.403
4	goFor(8); // wait for loading	0	20.103–28.023	0.204
5	reverse(4); // go back to gate   motorSpeed(4, 25);   goFor(5);  //goToRelativePosition ((int) (10 * 12) / (0.4875));	0	28.083–33.003	27.398
6	//wait at gate 2rn time  brake(4);  goFor(10);	0	33.063–43.023	0.215
7	//go back   motorSpeed(4, 25);   goFor(5);  //goToRelativePosition ((int) (10 * 12) / (0.4875));  brake(4); // at gate	0	43.083–48.063	27.882
Total Energy Used:		117.542 Joules

 

Lab 5:

reverse(1);    motorSpeed(4,25);  goFor(5);      brake(4);

Lab 8:

void myCode()

{

 // Define all Constants

 float IN_PER_MARK = (0.4875);

 //Measurements for track

 float ftToGate = 16; // lab man said 19

 float ftToR2 = 16;

 float ftBackToGate = 16;

 float ftBackToStart = 16;

 //waiting times

 float timeToWait = 9;

 float timeToWait2 = 8;

 float timeAtR2 = 6;

 //Clalcualtions for marks

 int marksToGate = (int) ((ftToGate * 12) / IN_PER_MARK);

 int marksToR2 =(int) ((ftToR2 * 12) / IN_PER_MARK);

 int marksBackToGate = (int) ((ftBackToGate * 12) / IN_PER_MARK);

 int marksBackToStart = (int) ((ftBackToStart * 12) / IN_PER_MARK);

 //UNLIMITED POWER!!!!!

 int mSpeed = 25;

 //Code starts here

 reverse(4);

 moveToPosition(mSpeed, marksToGate, timeToWait);

 moveToPosition(mSpeed, marksToR2, timeAtR2);

 

 reverse(4);

 

 moveToPosition(mSpeed, marksBackToGate, timeToWait2);

 moveToPosition(mSpeed,marksBackToStart, 0);

 

} // DO NOT REMOVE. end of void myCode()+

void moveToPosition(int mSpeed, int distance, float time2Wait){

 motorSpeed(4, mSpeed);

 goToRelativePosition(distance);

 brake(4);

 goFor(time2Wait);

}