Performance Test 4

setFuel();

/*moveForward(LOW_FORWARD, 6);
turnRight(90);
moveForward(MID_FORWARD, 30);       // Right self before ramp
moveForward(-1 * LOW_FORWARD, 6);
turnRight(-90);

moveForward(-1 * HIGH_FORWARD, 40); // Up the ramp we go

turnRight(50);
moveForward(-1 * LOW_FORWARD, 60);  */


turnRight(30);
moveForward(LOW_FORWARD, 18);
turnRight(-75);
moveForward(-1 * LOW_FORWARD, 17);
turnRight(42);
moveForward(-1 * HIGH_FORWARD, 45); // Up the ramp

turnRight(90); //straighten on wall
moveForward(MID_FORWARD, 25);
leftMotor.SetPercent(HIGH_FORWARD);
Sleep(FULL_SECOND);
leftMotor.Stop();
moveForward(-1 * LOW_FORWARD, 12);

turnRight(-64);
moveForward(-1 * LOW_FORWARD, 50);

turnFuel();                         // Turn the fuel crank
moveForward(LOW_FORWARD, 18);
turnRight(-101);
moveForward(LOW_FORWARD, 29);
turnRight(49);                      //And right back down
moveForward(LOW_FORWARD, 30);

/*
moveForward(LOW_FORWARD, 6);
turnRight(-90);
moveForward(MID_FORWARD, 20);
moveForward(-1 * LOW_FORWARD, 4);
turnRight(90);
moveForward(HIGH_FORWARD, 100);
*/

Algorithm for Performance Test 4:

  1. Read in the fuel crank direction and set fuel crank servo accordingly
  2. Turn right
  3. Move forward
  4. Turn left
  5. Move backwards, lining up with ramp
  6. Turn right
  7. Move backwards up the ramp at high power
  8.  Turn right
  9. Move forward, squaring up on the wall
  10. Move backwards
  11. Turn left
  12. Move backwards to the fuel crank
  13. Rotate the fuel crank in the correct direction
  14. Move forward
  15. Turn left
  16. Move forward, lining up with ramp
  17. Turn right
  18. Move forward down the ramp