Code

To begin the coding process psuedocode was written for the general structure of the code.  The psuedocode is attached below.

Psuedocode

The team had multiple versions of the code for different purposes.  The first version of the code is the code the team used for the performance tests.  It also includes a the code where the team completed the entire course at 50% power.  This code is attached below.

Code for Performance Tests and Slow Code

Next, the team wanted to speed up the motors to decrease their time.  The team sped up the motors to 80% power.  This caused many values to change, and the team used this code for Individual Competition.  This new and adjusted code is attached below.

Code for Individual Competition

After the Individual Competition didn’t do well, the team changed the code again to attack the course in a different way for the Final Competition.  The final competition code is attachedbelow.

Code for Final Competition

In addition, the team also had code to check if the CdS cells, bump switches , and RPS were working.  These files are attached below.

CdS Cell Test Code

Bump Switch Test Code

RPS Test Code