Final Code

Final Performance Test

// Program between here——————————————————————-

reverse(4);

// go to 238 marks
while(getVehiclePostion() < 238) { // definately 238
motorSpeed(4,30);
goFor(.1);
}

// powerBrake
reverse(4);
motorSpeed(4,55); // 58 but wasn’t working
goFor(1.1);

//can decrease to save time wait for 7 sec
brake(4);
goFor(8.5);

// go through gate
reverse(4);
motorSpeed(4,32); // was 25, might need to change back (28)
goFor(2);

//coasts and brakes (adjust docking speed here)
brake(4);
goFor(2);
reverse(4);
motorSpeed(4,30); // adjust?
goFor(1);
reverse(4);

//waits at loading zone for 5 seconds
brake(4);
goFor(7); // 7.5seconds

//remove from loading zone
reverse(4);

// go back to gate
while(getVehiclePostion() > 404) { // variable, make sure to change
if(getVehiclePostion() > 600) {
motorSpeed(4,40);
goFor(.1);
} else if (getVehiclePostion() > 425) {
motorSpeed(4,50);
goFor(.1);
} else {
motorSpeed(4,30);
goFor(.1);
}
}

// powerBrake
reverse(4);
motorSpeed(4,50);
goFor(1);

// wait at gate for 7 seconds
brake(4);
goFor(8);

//go through gate
reverse(4);
motorSpeed(4,50); // might need to change
goFor(4);

// coast and brake
brake(4);
goFor(2);

reverse(4);
motorSpeed(4,48);
goFor(1);
//reverse(4);