Performance Test 1:
Code:
reverse(4);
celerate(4, 0, 35, 4); %accelerate the motors
motorSpeed(4, 35); % keep the motors going
goToAbsolutePosition(-206); % go the number of tick marks to the sensor then shut off motors
reverse(4); %power brake
goFor(2);
brake(4);
goFor(7); %stop for 7 seconds at gate
reverse(4);
celerate(4, 0 , 35, 3); %accelerate through gate
motorSpeed(4, 35);
goFor(3);
brake(4); %shut motors off and coast into the caboose
Performance Test 2:
Code:
reverse(4);
celerate(4, 0, 35, 4); %accelerate the motors
motorSpeed(4, 35); % keep the motors going
goToAbsolutePosition(-212); % go the number of tick marks to the sensor then shut off motors
brake(4);
reverse(4); %power brake
motorSpeed(4, 30);
goFor(1);
brake(4);
goFor(7); %stop for 7 seconds at gate
reverse(4);
celerate(4, 0 , 33, 3); %accelerate through gate
motorSpeed(4, 33);
goFor(3.5);
brake(4); %shut motors off and coast into the caboose
goFor(10); %wait in loading zone for about 5 seconds
reverse(4); % reverse the motors then begin to pull the caboose back to start
celerate(4, 0 , 45, 3);
motorSpeed(4, 45);
goFor(1);
Final Performance Test:
Code:
reverse(4);
int midMark = 180; %sets distances for long/short bursts
int endMark = 193;
while(getVehiclePostion() < midMark) { %long bursts up the first hill
motorSpeed(4, 55);
goFor(1);
brake(4);
goFor(1);
}
while(getVehiclePostion() < endMark) { %short bursts right before first sensor
motorSpeed(4, 40);
goFor(0.25);
brake(4);
goFor(0.5);
}
brake(4); %power braking at first sensor
reverse(4);
motorSpeed(4, 23);
goFor(1);
brake(4);
goFor(7); %wait at the gate for 7 seconds
reverse(4);
motorSpeed(4, 33); %power to coast down and get the caboose
goFor(3.5);
brake(4);
goFor(10);
reverse(4);
int midMark2 = 470; %sets distances on the way back
int endMark2 = 433;
while(getVehiclePostion() > midMark2) { %long bursts up the second hill
motorSpeed(4, 63);
goFor(1);
brake(4);
goFor(1);
}
while(getVehiclePostion() > endMark2) { %short bursts before the second sensor
motorSpeed(4, 45);
goFor(0.25);
brake(4);
goFor(1);
}
brake(4); %power braking at second sensor
reverse(4);
motorSpeed(4, 35);
goFor(1);
brake(4);
goFor(7); %wait at the gate for 7 seconds
reverse(4);
motorSpeed(4, 40); %power to coast back to the starting dock
goFor(2.5);
brake(4);
reverse(4); %power braking at the starting dock
motorSpeed(4, 28);
goFor(2);
brake(4);