Preliminary Research and Development Codes

Coding Exercise Used in Scenario 1:

//1) Accelerate motor 1 from start to 15% in 2.5 seconds

celerate(1,0,15,2.5);

//2) motor speed at 15% for 1 second

motorSpeed(1,15);

goFor(1);

//3) brake motor 1

brake(1);

//4)run mototr two from 0 to 27% in 4 secs

celerate(2,0,27,4);

//5) run for 2.7 secs

motorSpeed(2,27);

goFor(2.7);

//6) dece;lerate motor 2 to 15 in 1 sec

celerate(2,27,15,1);

//7) brake motor 2

brake(2);

//8) reverse direction of motor 2

reverse(2);

//9) accelerate both from start to 31 in 2 secs

celerate(4,0,31,2);

//10) run all motors for 35% at 1 sec

motorSpeed(4,35);

goFor(1);

//11 brake motor two motor 1 runs for 3 more secs

brake(2);

motorSpeed(1,35);

goFor(3);

//12 brake all motors for 1 sec

brake(4);

goFor(1);

//13 reverse direction of motor 1

reverse(1);

//14) accelerate motor 1 from 0 to 19 2 secs

celerate(1,0,19,2);

//15) run motor 2 at 35 and motor 1 at 19 2 secs

motorSpeed(2,35);

goFor(2);

motorSpeed(1,19);

goFor(2);

//16) run both for 19% at 2sec

motorSpeed(4,19);

goFor(2);

//17) decelerate from to 0 in 3 secs

celerate(4,19,0,3);

//18)brake all motors

brake(4);

//19) save program

Coding Exercise Used in Scenario 2:

//1) run all motors at a constant speed of 25% power for 2 seconds

motorSpeed(4,25);

goFor(2);

//2) run all motors at a constant speed of 20% power and, using the
//goToAbsolutePosition function, travel a distance of 12 feet from start

motorSpeed(4,20);

goToAbsoluteePosition(295);

//3) reverse all 4 motors

celerate(4,19,0,3);

brake(4);

//4) Reverse all motors

reverse(4);

// run all motors at a constant speed of 30% power for 1.5 seconds

motorSpeed(4,30);

goFor(1.5);

// brake all motors

brake(4);

Coding Exercise Used in Data Analysis:

//accelerates all motors from rest to 25% power for 3 seconds
celerate(4,0,25,3);
//all motors go at 25% power for 2 seconds
motorSpeed(4,25);
goFor(2);
//all motors go at 20% power for 2 seconds
motorSpeed(4,20);
goFor(2);
//all motors reverse
reverse(4);
//all motors go for 2 seconds at 25% power
motorSpeed(4,25);
goFor(2);
//all motors brake
brake(4);