EXERCISE 1 (SCENARIO 1):
celerate(1,0,15,2.5);//accelerate motor 1 to 15 speed over 2.5 seconds
goFor(1);//run for 1 second
brake(1);//stop motor 1
celerate(2,0,27,4);//accelerate motor 2 to 27 speed over 4 seconds
goFor(2.7);//run for 2.7 seconds
celerate(2,27,15,1);//decelerate motor 2 from 27 to 15 speed over 1 second
brake(2);//stop motor 2
reverse(2);//change direction of motor 2
celerate(4,0,31,1);//accelerate all motors to 31 speed over 1 second
motorSpeed(4,35);//set all motors to 35 speed
brake(2);//brake motor 2
goFor(3);//go for 3 seconds
brake(1);//stop motor 1
goFor(1);//go for 1 second
reverse(1);//change the direction of motor 1
motorSpeed(1,35);//set motor 1 to 35 speed
motorSpeed(2,19);//set motor 2 to 19 speed
goFor(2);//run for 2 seconds
motorSpeed(1,19);//set motor 1 to 19 speed
goFor(2);//run motors for 2 seconds
celerate(4,19,0,3);//decelerate all motors from 19 to 0 speed over 3 seconds
brake(4);//brake all motors
EXERCISE 2:
//All motors running at 25% power for 2 seconds
motorSpeed(4,25);
goFor(2);
//Travel a distance of 12 feet at a constant speed with motors at 20%
motorSpeed(4,20);
goToAbsolutePosition(295.2);
//Reverse the motors
reverse(4);
//All motors running at 30% power for 1.5 seconds
motorSpeed(4,30);
goFor(1.5);
//Braking
brake(4);
EXERCISE 4:
celerate(4,0,25,3); //accelerate both motors to 25% in 3 seconds
motorSpeed (4,25);//both motors are at 25%
goFor(1);//all motors go for 1 second
motorSpeed(4,20);//set all motors to 20 speed
goFor(2);//all motors go for 2 seconds
reverse(4);//change direction of motors
motorSpeed(4,25);//set all motors to 25%
goFor(2);//run for 2 seconds
brake(4);//stop all motors
COASTING:
celerate(4,0,35,2); //speed all motors up to 35 percent power over a period of 2 seconds
goFor(3); //Allow motor to run for 3 seconds
brake(4); //Stops motors
POWER BRAKING:
celerate(4,0,35,2); ); //speed all motors up to 35 percent power over a period of 2 seconds
goFor(4); //Allow motors to run for 4 seconds
reverse(4); //Change the direction of all motors
motorSpeed(4,30); //Initialize all motors to 30 percent speed
goFor(3); //run initialized state for 3 seconds
ONE MOTOR:
motorSpeed(1,35); //Initialize motor 1 to 35 percent speed
goFor(2); //run initialized state for 2 seconds
brake(1); //brake motor 1
TWO MOTORS:
motorSpeed(2,35); //Initialize motor 2 to 35 percent speed
goFor(2); //run initialized state for 2 seconds
brake(2); //brake motor 2
1st PERFORMANCE TEST:
motorSpeed(4,30); //set both motors to 30 power
goToRelativePosition(-185); //travel 185 marks
brake(4);
reverse(4);
motorSpeed(4,22); //stop, change direction, and set both motors to 22 power
goToRelativePosition(-110); //travel 110 marks
brake(4);
goFor(9); //stop and wait for 9 sec
reverse(4);
motorSpeed(4,30); //reverse both motors and set speed to 30
goFor(2.5); //travel for 2.5 seconds
2nd PERFORMANCE TEST (DISTANCE):
motorSpeed(4,30); //set both motors to 30 power
goToRelativePosition(-185); //travel 185 marks
brake(4);
reverse(4);
motorSpeed(4,22); //stop, change direction, and set both motors to 22 power
goToRelativePosition(-110); //travel 110 marks
brake(4);
goFor(9); //stop and wait for 9 sec
reverse(4);
motorSpeed(4,30); //reverse both motors and set speed to 30
goFor(2.5); //travel for 2.5 seconds
brake(4);
goFor(10); //stop motors and wait for 10 seconds
reverse(4);
motorSpeed(4,59); //set motors to 59 speed
goFor(3); //run motors for 3 seconds
2nd PERFORMANCE TEST (TIME):
motorSpeed(4,30); //set both motors to 30 power
goToRelativePosition(-185); //travel 185 marks
brake(4);
reverse(4);
motorSpeed(4,60); //stop, change direction and set both motors to 60 power
goFor(1);
brake(4); //run for 1 second and then stop
goFor(9); //stop and wait for 9 sec
reverse(4);
motorSpeed(4,30); //reverse both motors and set speed to 30
goFor(2.5); //travel for 2.5 seconds
brake(4);
goFor(10); //stop motors and wait for 10 seconds
reverse(4);
motorSpeed(4,59); //set motors to 59 speed
goFor(3); //run motors for 3 seconds
FINAL PERFORMANCE TEST:
motorSpeed(4,40);
goToRelativePosition(-186); //185 for 308, 180 for 224
brake(4);
reverse(4);
motorSpeed(4,61);
goFor(1);
brake(4);
goFor(11);
reverse(4);
motorSpeed(4,28); //28 for 224
goFor(2.5);
brake(4);
goFor(11);
reverse(4);
motorSpeed(4,77); //75 for 224
goFor(3);
brake(4);
goFor(1.15);
reverse(4);
motorSpeed(4,62); //54 for 224
goFor(1.3);
brake(4);
goFor(9);
reverse(4);
motorSpeed(4,71);
goFor(2); //2 for 224
brake(4);
goFor(3.92);
reverse(4);
motorSpeed(4,45);
goFor(1.5);