Objective: Travel to gate, trigger first sensor, stop before second sensor, pause for 7 seconds (gate raises), travel forward.
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Codes Using (1) Reverse Function Braking and (2) Power Braking via Servo:
(1) //Starting DockĀ motorSpeed(4,40); //set all motors to 40% power goToAbsolutePosition(206); //travel 206 marks to gate brake(4); //cut power to all motors //GateĀ reverse(4); //reverse all motors motorSpeed(4,60); //set all motors to 60% power to brake at gate goFor(1.1); //run previous function for 1.1 seconds brake(4); //cut power to all motors goFor(7); //wait in gate for 7 seconds //Toward Loading Dock reverse(4); //reverse motors in order to travel forward out of gate motorSpeed(4,40); //set all motors to 40% power goFor(2); //run previous task for 2 seconds brake(4); //cut power to all motors reverse(4); //reverse all motors to brake motorSpeed(4,60); //set all motors to 60% power to brake goFor(1.1); //run previous task for 1.1 seconds brake(4); //cut power to all motors
(2) //Starting Dock motorSpeed(4,40); //set motors to 40% power goToAbsolutePosition(195); //enter gate //Gate rotateServo(99);// rotate servo as manual brake system brake(4); //cut all power to motors goFor(8); //sit in gate for 7 seconds for gate to open, 1 sec allows for braking time rotateServo(5); //release manual brake //Toward Loading Dock motorSpeed(4,35); //resume slightly slower speed toward loading dock due to decline goToAbsolutePosition(484); //runs motors until defined distance brake(4); //cuts power to engines, starts coast down incline