Performance Test 1

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