Lab 1

Arduino Code Glossary:

celerate(m,p1,p2,t);  –  Accelerates or decelerates motor(s) m from start speed (%) p1 to end speed (%) p2 over a duration of t seconds

motorSpeed(m,p);  –  Initializes motor(s) m at percent power p

goFor(t);  –  Runs the motor(s) at their initialized state for t seconds

brake(m);  –  Brakes motor(s) m Note: This does NOT brake the AEV, just stops the motors from spinning

reverse(m);  –  Reverses the polarity of motor(s) m

goToRelativePosition(n);  –  Continues the previous command for n marks from the vehicle’s current position. n can be positive or negative, with positive meaning the vehicle is moving forward, negative meaning the vehicle is moving backward

goToAbsolutePosition(n);  –  Continues the previous command for n marks relative to the overall starting position of the AEV

 

Scenario 1:

// Accelerate motor one from start to 15 percent in 2.5 seconds

celerate(1,0,15,2.5);

// Run motor one at constant 15 percent

motorSpeed(1,15);

//Runs motor for one second

goFor(1);

//Brakes motor one

brake(1);

// accelerates motor two from zero to 27 in four seconds

celerate(2,0,27,4);

// Run motor two at constant 27

motorSpeed(2,27)

//runs for 2.7

goFor(2.7);

//decelerates motor two from 27 percent to fifteen percent in one second

celerate(2,27,15,1);

//brakes motor two

brake(2);

//reverses motor two

reverse(2);

//accelerates all motors from start to 31 percent

celerate(4,0,31,2);

//motor speed for all motors to 35 percent

motorSpeed(4,35);

//goes for 1 sec

goFor(1);

//brakes motor 2

brake(2);

//runs motor one at 35 percent

motorSpeed(1,35);

//runs for 3 seconds

goFor(3);

//breaks all motors

brake(4);

//goes for one second

goFor(1);

//reverse motor one

reverse(1);

//accelerates motor one from start to 19 in two seconds

celerate(1,0,19,2);

//sets motor one speed one to 19

motorSpeed(1,19);

// sets motor two speed to 35

motorSpeed(2,35);

//goes for 2 seconds

goFor(2);

//both motor speed set to 19 percent

motorSpeed(4,19);

//runs for two seconds

goFor(2);

//decelerates both motors from 19 to 0

celerate(4,19,0,3);

//breaks all motors

brake(4);