Performance Test 2 Preparation and Results
Preparation
Going into the test, Group F knew it would be very simple to get the AEV to the end and attach to the load. The hardest part would be sucessfuly placing the AEV with the load in between the gate sensors. Since the AEV accumulates a significantly larger amount of mass, it will require a lot more power and speed to get it up the track.
Testing
Group F used the coasting technique and let the AEV go down the hill and attach to the load. Multiple trials were done to perfect the amount of power needed. To minimize the risk of the AEV falling off the track, Group F started with low power and kept bumping it up until there was enough power for the AEV to reach the top of the incline. Then the motors were cut off immediately and the AEV coasted for a couple seconds until the servo was engaged to stop the AEV the front of the sensor.
Results
Code Used
myservo.attach(SERVO_PIN_A); // attaches the servo on pin 9 to the servo object
int neutral = 0;
int halt = 30;
myservo.write(neutral);
//Reverse motors to go forward
reverse(4);
//Set both motors to 25% power;
motorSpeed(4,25);
//Slow down
goToAbsolutePosition(180);
motorSpeed(4,10);
//Go to gate (310 marks)
goToAbsolutePosition(290); //~310
//Brake AEV
brake(4);
myservo.write(halt);
//Wait for 7 seconds
delay(3500);
myservo.write(neutral);
goFor(4);
//Move past the gate
motorSpeed(4,25);
goFor(2);
brake(4);
//BEGIN PHASE 2
//go to load
goToAbsolutePosition(615);
//wait at loading
goFor(5.5);
//Go again
reverse(4);
motorSpeed(4,45);
//BEGIN PHASE 3
//Back to the gate
goToAbsolutePosition(435);
brake(4);
//coast to the gate
goToAbsolutePosition(375);
myservo.write(halt);
delay(3500);
goFor(4);