The main task required for completion for Performance Test 4 was to turn the fuel crank correctly. Points were awarded for touching the fuel crank, turning the crank at least 5 degrees, turning the crank between 200 and 160 degrees, and turning the crank in the proper direction. The bonus task was to maneuver the robot from the bottom level to the top level, and back down again.
To complete this task, a mechanism had to be created to turn the fuel crank. To accommodate this, a disk of scrap wood was affixed to a Fitec servo attached to the chassis. The servo would allow the disk to rotate an accurate 180 degrees. The disk was then covered with the bottom of a mousepad, a high-friction material, for a good grip of the crank. Once this was attached, code was written to perform the test. The robot ran multiple unofficial tests to find that the initial setup was working nearly perfectly, but the servo was still rotating the fuel crank too much on most runs. After this was realized, the code was changed to make the range of rotation smaller; less than 180 degrees, but still within the acceptable range. After this was changed, more test runs were run successfully. An official performance test was run, and all of the available credit was earned.