Code used for the final performance test

reverse(4);//reverses both motors 

motorSpeed(4,24); //initalizes both motors to 24% power 

goToAbsolutePosition(227);//sets the AEV to travel 227 marks 

brake(4);//brakes both motors 

goFor(4);//AEV waits 4 seconds 

if(getVehiclePostion() <297){// i 

  motorSpeed(4,27); 

  goToAbsolutePosition(297); 

  brake(4); 

  goFor(2); 

}// if the AEV has traveled less than 297 marks the AEV will start again and move forward slightly 

motorSpeed(4,0);//sets both motors to 0% power 

goFor(6);//AEV waits for 6 seconds 

//performance test 1 

//going to gate 

 

motorSpeed(4,22);//sets both motors to 22% power 

goToAbsolutePosition(350);//makes the AEV travel to 350 marks 

celerate(4,23,19,2);//the AEV declerates from 23% to 19% power in 2 seconds 

brake(4);//brakes both motors 

goFor(7); //AEV waits for 7 second 

//performance test 2 

//picking up caboose 

  

reverse(4);//reverses the direction of both motors 

motorSpeed(4,50);//sets both motors to 40% power 

goToAbsolutePosition(388);//makes the AEV go to the postion 388 marks 

brake(4);//brakes both motors 

if(getVehiclePostion() > 425){ 

motorSpeed(4,40); 

goToAbsolutePosition(425); 

brake(4); 

//goFor(2); 

}//if the AEV’s position is greater than 425 marks it will move forwards slightly 

reverse(4);//reverses both motors 

motorSpeed(4,28);//sets both motors to 28% power 

goFor(1);//runs the AEV at current power for 1 second 

motorSpeed(4,0);//sets both motors to 0% power 

goFor(7);//runs at 0% power for 7 seconds 

//uphill 

//returning to gate with caboose 

  

reverse(4);//reverses the direction of both motors 

motorSpeed(4,48);//sets both motors to 48% power 

goToAbsolutePosition(220);//makes the AEV return to the position at 220 marks 

brake(4);//brakes both motors 

goFor(7);//AEV waits for 7 seconds 

//downhill 

// returns to loading dock