reverse(4);
//motors reverse for polarity
motorSpeed(4,30);
goToAbsolutePosition(230);
motorSpeed(4,20);
//motor speed slows down in the middle before reaching the gate to achieve a consistent stop
goToRelativePosition(245);
reverse(4);
//motors reverse to brake
motorSpeed(4,65);
goFor(.5);
brake(4);
motorSpeed(4,0);
goFor(9);
//AEV is waiting at the gate
reverse(4);
//motors reverse for polarity
motorSpeed(4,30);
goToRelativePosition(465);
reverse(4);
//motors brake and coast a little to reach the R2D2
motorSpeed(4,65);
goFor(.5);
brake(4);
motorSpeed(4,0);
goFor(5);
//AEV picks up the R2D2
motorSpeed(4,50);
goToRelativePosition(-232);
//relative position marks are negative since it’s going backwards
motorSpeed(4,40);
//motor speed slows down
goToRelativePosition(-175);
reverse(4);
//AEV brakes to reach gate
motorSpeed(4,90);
goFor(.75);
brake(4);
motorSpeed(4,0);
goFor(9);
//AEV waits at gate
reverse(4);
//motors are reversed to achieve polarity
motorSpeed(4,50);
goToRelativePosition(-124);
motorSpeed(4,40);
//motor speed slows down
goToRelativePosition(-185);
brake(4);
//motors are complete off in order achieve a fully coasting stop