---

pR&D

---

Lab 1:

celerate(1, 0, 15, 2.5);
motor(1, 15);
goFor(1);
brake(1);
celerate(2, 0, 27, 2.7);
motorSpeed(2, 27);
goFor(2.7);
celerate(2, 27, 15, 1);
brake(2);
reverse(2);
celerate(3, 0, 31, 2);
motorSpeed(4,35);
goFor(1);
brake(2);
motorSpeed(1,35);
goFor(3);
brake(4);
goFor(1);
reverse(1);
celerate(1, 0, 19, 2);
motorSpeed(2, 35);
motorSpeed(1, 19);
goFor(2);
motorSpeed(4, 19);
goFor(2);
celerate(4, 19, 0, 3);
brake(4);

Lab 2:

motorSpeed(4,25);
goFor(2);
motorSpeed(4,20);
goToAbsolutePosition(295);
reverse(4);
motorSpeed(4,30);
goFor(1.5);
brake(4);

Lab 4:

celerate(4,0,25,3);
motorSpeed(4,25);
goFor(1);
motorSpeed(4,20);
goFor(2);
reverse(4);
motorSpeed(4,25);
goFor(2);
brake(4);

---

aR&D

---

Battery Testing: 

reverse(4);                    %reverse motors because they are on the wrong way
celerate(4, 0, 20, 5);      %accelerate all motors from 0-20% power in 5 seconds
motorSpeed(4, 20);       %all motors go at 20% speed for 3 seconds
goFor(3);
brake(4);                      %brake all motors

Power Braking versus Coasting: 

Coasting:

reverse(4);

celerate(4, 0, 20, 5);

motorSpeed(4, 20);

goFor(3);                     %coasting method is the same except no braking at the end\

Power Braking:

reverse(4);

celerate(4, 0, 20, 5);

motorSpeed(4, 20);

goFor(3);

brake(4);                      % power braking utilizes the brake motors command