The Speed D8ers began working on the fourth performance test on March 7. For this test, the robot was required to read in the fuel type with RPS and spin the crank 180 degrees in the corresponding direction by March 23².
The Speed D8ers began testing the code for Performance Test 4 on March 9 using the course strategy depicted above, where the robot took the concrete ramp to the upper level and followed the concrete path before turning towards the fuel crank. The team relied on time-based movement, and conducted numerous tests on the course to determine the necessary distances, angles, and power levels needed to complete the performance test. Overall, the team decided that using the grass ramp would lead to more consistent runs, so the course strategy depicted below was tested.
During initial trials using the modified code for the new course strategy, the robot bumped into the wrench. Team members then decided to use the code for Performance Test 3 to get up the ramp with 45 degree turns rather than 90 degree turns. Team programmers modified the code from the third performance test to resemble the course strategy depicted below.
The robot did not go up the grass ramp consistently during tests, so team members altered the route to make the robot straighten up against the wall before turning towards the fuel crank. The servo also had trouble rotating the crank the full 180 degrees, so team programmers had the robot move backwards after the first rotation, reset, and spin the crank again. This strategy is depicted below.
The team tested the route for consistency on March 21 before conducting official tests on March 23. In the first official test, the robot spun the crank adequately on the first rotation, but then proceeded to spin the crank further, exceeding 180 degrees. Team members removed the second spin, resulting in the course strategy shown below.
The robot did not consistently spin the crank 180 degrees, but the team conducted two official tests using the revised code. On the first attempt, the crank failed to rotate the full 180 degrees, but the robot successfully completed Performance Test 4 on the second attempt.