# A. Preliminary R&D

Lab 1

//Accelerate motor one from start to 15% power in 2.5 seconds.
celerate(1,0,15,2.5);
//Run motor one at a constant speed (15% power) for 1 second.
goFor(1);
//Brake motor one.
brake(1);
//Accelerate motor two from start to 27% power in 4 seconds.
celerate(2,0,27,4);
//Run motor two at a constant speed (27% power) for 2.7 seconds.
goFor(2.7)
//Decelerate motor two to 15% power in 1 second.
celerate(2,27,15,1);
//Brake motor two.
brake(2);
//Reverse the direction of only motor 2.
reverse(2);
//Accelerate all motors from start to 31% power in 2 seconds.
celerate(4,0,31,2);
//Run all motors at a constant speed of 35% power for 1 second.
motorSpeed(4,35);
goFor(1);
//Brake motor two but keep motor one running at a constant speed (35% power) for 3 seconds.
brake(2);
goFor(3);
//Brake all motors for 1 second.
brake(4);
goFor(1);
//Reverse the direction of motor one.
reverse(1);
//Accelerate motor one from start to 19% power over 2 seconds.
celerate(1,0,19,2);
//Run motor two at 35% power while simultaneously running motor one at 19% power for 2 seconds.
motorSpeed(2,35);
goFor(2);
//Run both motors at a constant speed (19% power) for 2 seconds.
motorSpeed(2,19);
goFor(2);
//Decelerate both motors to 0% power in 3 seconds.
celerate(4,19,0,3);
//Brake all motors.
brake(4);

Lab2

//Run all motors at a constant speed of 25% power for 2 seconds.
motorSpeed(4,25);
goFor(2);
//Run all motors at a constant speed of 20% and using the goToAbsolutePosition function travel a total distance of 12 feet (from the starting point).
motorSpeed(4,20);
goToAbsolutePosition(295.38);
//Reverse motors.
reverse(4);
//Run all motors at a constant speed of 30% power for 1.5 second.
motorSpeed(4,30);
goFor(1.5);
//Brake all motors.
brake(4);

Lab 3

\\Accelerate all motors from start to 25% in 3 seconds.
celerate(4,0,25,3);
\\Run all motors at a constant speed (25% power) for 1 second.
goFor(1);
\\Run all motors at 20% power for 2 seconds.
motorSpeed(4,20);
goFor(2);
\\Reverse all motors.
reverse(4);
\\Run all motors at a constant speed (25% power) for 2 second.
motorSpeed(4,25);
goFor(2);
\\Brake all motors.
brake(4);