Team K Codes

TABLE OF CONTENTS:

Common Arduino Function Calls

Exercise 1

Exercise 2

Exercise 4

aR&D #1

aR&D #2

Performance Test #1 

Performance Test #2

Final Performance Test

 

Common Arduino Function Calls:

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

E.g. celerate(1,20,45,2); Accelerates motor 1 from 20% to 45% power in 2 seconds

motorSpeed(m,p);

Initializes motor(s) m at percent power p

E.g. motorSpeed(2,16); Sets motor 2 speed to 16% power

goFor(t);

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

E.g. goFor(5); Runs the motor(s) at their initialized state for 5 seconds

brake(m);

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

E.g. brake(4); Cuts the power to all motors

reverse(m);

Reverses the polarity of motor(s) m

E.g. reverse(1); Reverses polarity of motor 1

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

E.g. motorSpeed(4,20); goToRelativePosition(30); All motors are set to 20% power, and they will continue to run at 20% power until the AEV reaches 30 marks from its current position

goToAbsolutePosition(n);

Continues the previous command for n marks relative to the overall starting position of the AEV

E.g. motorSpeed(4,20); goToAbsolutePosition(300); All motors are set to 20% power, and they will continue to run at 20% power until the AEV reaches 300 marks from its starting position

---

Exercise 1:

//Reverse to Align the motors to the correct direction

reverse(4);

---

aR&D #1:

reverse(4);

motorSpeed(4,35);

goFor(5);

brake(4);

---

aR&D #2:

Trial 1:

reverse(4);

motorSpeed(4,35);

goFor(5);

reverse(4);

motorSpeed(4, 50);

goFor(1);

 

Trial 2:

reverse(4);

motorSpeed(4,35);

goFor(5);

brake(4);

reverse(4);

motorSpeed(4, 50);

goFor(1);

 

Trial 3:

reverse(4);

motorSpeed(4,35);

goFor(5);

brake(4);

reverse(4);

motorSpeed(4, 50);

goFor(.15);

 

Trial 4:

reverse(4);

motorSpeed(4,35);

goFor(5);

brake(4);

reverse(4);

motorSpeed(4, 50);

goFor(.03);

 

Trial 5:

reverse(4);

motorSpeed(4,35);

goFor(5);

brake(4);

reverse(4);

motorSpeed(4, 50);

goFor(.005);

 

Trial 6:

reverse(4);

motorSpeed(4,35);

goFor(5);

brake(4);

reverse(4);

motorSpeed(4, 45);

goFor(.25);

 

Trial 7:

reverse(4);

motorSpeed(4,35);

goFor(5);

reverse(4);

motorSpeed(4, 35);

goFor(1);

brake(4);

 

Trial 8:

reverse(4);

motorSpeed(4,35);

goFor(5);

reverse(4);

motorSpeed(4, 40);

goFor(1);

brake(4);

 

Trial 9:

reverse(4);

motorSpeed(4,35);

goFor(5);

reverse(4);

motorSpeed(4, 45);

goFor(1);

brake(4);

---

Performance Test #1

//Reverse the polarity to align the motor orientation

reverse(4);

//run all motors at 45 percent power for 234 marks

motorSpeed(4,45);

goToAbsolutePosition(234);

//brake all motors and reverse polarity of motors to power brake at gate

brake(4);

reverse(4);

//Run all motors at 45 percent power for 1.2 seconds in opposite direction to power brake

motorSpeed(4,45);

goFor(1.2);

brake;

//Cut power and wait at gate at a speed of 0 percent power for 7 seconds

motorSpeed(4,0);

goFor(7);

//Run all motors at a speed 35 percent power for 2 seconds and brake to allow coasting past the gate

motorSpeed(4,35);

goFor(2);

//Brake to end code

brake(4);

---

Performance Test #2

//Reverse the polarity to align the motor orientation

reverse(4);

//run all motors at 45 percent power for 234 marks

motorSpeed(4,45);

goToAbsolutePosition(234);

//brake all motors and reverse polarity of motors to power brake at gate

brake(4);

reverse(4);

//Run all motors at 45 percent power for 1.2 seconds in opposite direction to power brake

motorSpeed(4,45);

goFor(1.2);

brake;

//Cut power and wait at gate at a speed of 0 percent power for 7 seconds

motorSpeed(4,0);

goFor(7);

//Run all motors at a speed 45 percent power for 65 marks brake to allow coasting past the gate

reverse(4);

motorSpeed(4,45);

goToRelativePosition(65);

//Brake to allow coasting to the caboose

brake(4);

//Run motors at 0 percent power for 12 seconds to connect to the caboose and wait 5 seconds

motorSpeed(4,0);

goFor(12);

//Reverse polarity of motors to align the orientation

reverse(4);

//Run all motors at 50 percent power for relatively 100 marks in opposite directions towards gate

motorSpeed(4,50);

goToRelativePosition(-100);

//Brake to end code

brake(4);

---