Previous codes and designs developed throughout the project
Previous Designs
Previous designs used throughout the project
Preliminary R&D Designs
Phillip Ellerman’s AEV design
This design is modeled after a plane. The long wings in the back were used to reduce drag, and the front was used to hold the wings. The smaller body was used to minimize weight as well as maximize efficiency. This design was revised to increase stability. Due to the rear centered AEV arm, this design had significantly lower stability than other designs tested, causing for major revisions to be made in order to further develop this design.
Nia Johnson’s AEV design
The design was modeled after a fighter jet. The nose of the AEV is pointed and the wings are angled upward in order to cut through the air and maximize its aerodynamics. A minimal amount of additional features were added in order to reduce drag and weight while ensuring efficiency. This design required revision due to the nose cone present in this design. This design offered great stability and safety, which proved to be a key factor in further development, but was revised to remove the nose cone since the team was unable to receive a grant to fund the cone.
Jonathan London’s AEV design
This design was modeled to look like a hammerhead shark. It s aerodynamic due to its fins, and can reach a high top speed due to a minimalist design. Being aerodynamic and lightweight, this design will also have high energy efficiency without sacrificing performance, making it a viable option for further development. This design was revised due to its high capital cost and weight. While this design was aerodynamic and well balanced, the capital costs due to the additional components added nearly $7,000 to the team’s budget, requiring the design to be revised in further development.
Maddie Thew’s AEV design
This design is something that is aerodynamic and can deliver patrons quickly and effectively while keeping passengers safe. The AEV would also be designed to hold the maximum number of people by attaching the battery to the bottom and the Arduino to the back of the AEV. This design was revised based on its rear centered AEV as this caused the AEV to have a slight imbalance between its wheels, making it more difficult to start from rest. Because of this, other Arduino design features were implemented in further development.
Team AEV Design
This design was created based on the concept screening and scoring matrices, which can be found in the preliminary R&D tab under design process, used to evaluate the 4 individual prototypes. This design was revised into Team Design 1 for the final performance test due to the nose cone present. The team was unable to gain funding for the aerodynamic nose cone, causing the team to have to refine the design for performance test 1.
Performance Test 1 Designs (Excluding Final Design)
Team Design 1: Performance Test 1
This design was created for the first performance test. This design was one of two designs created for the first performance test, and was created by implementing features of each of the 4 preliminary R&D designs and the team AEV design. This design features a centered AEV arm, two motors, a front centered AEV, and downward facing wings. This design was revised due to the upward facing wing design. The team found that the upward facing wings caused a lower power efficiency when compared to the second design that the team created for the performance test. Because of this, the team found that this design required revisions if it were to be used in the final performance test.
Previous Codes
A list of all previous codes used during the AEV project
Preliminary R&D Codes
Code for Activity 1 Version 1
motorSpeed(4,35); goFor(1); //run both motors at 35% power for 1 second
brake(2);motorSpeed(1,35); goFor(2); //run motor 1 at 35% power for 2
brake(4); goFor(1); //brake all motors for 1 second
reverse(1); // reverse motor 1
celerate(1,0,19,2); //accelerate motor 1 from 0 to 19% power in 2 seconds
motorSpeed(2,35); motorSpeed(1,19); goFor(2); //run motor 2 at 35% power
motorSpeed(4,19); goFor(2); //run both motors at 19% for 2 seconds
celerate(4,19,0,3); //accelerate both motors from 19 to 0% over 3 seconds
brake(4); //brake all motors
No changes
Code for Activity 2 Version 1
motorSpeed(4,25); goFor(2); //run both motors at 25% for 2 seconds
motorSpeed(4,20); goToAbsolutePosition(123.07); //go to station
reverse(4); //reverse all motors
motorSpeed(4,30); goFor(1.5); //both motors at 3)% for 1.5 seconds
brake(4); //brake all motors
No changes
Code for Activity 4 Version 1
celerate(4,0,25,3); //accelerate both motors from 0 25% over 3 seconds
motorSpeed(4,25); goFor(1); //both motors 25% for 1 second
motorSpeed(4,20); goFor(2); //both motors 20% for 2 seconds
reverse(4); //reverse both motors
motorSpeed(4,25); goFor(2); //both motors 25% for 2 seconds
brake(4); //brake both motors
No changes
Advanced R&D Codes
Code for Coasting Version 4
celerate(4,0,50,1); // Accelerates both motors to 50% power over 1 second
motorSpeed(4,50); goFor(2); // Runs both motors at 50% power for 2 seconds
brake(4); // Brakes both motors
//Changed power % and time from 40 to 50 and 1 to 2 in line 2.
Code for Power Braking Version 3
celerate(4,0,40,1); //Accelerates both motors to 40% power over 1 second
motorSpeed(4,40); goFor(3); // Runs both motors at 40% power for 3 seconds
reverse(4); //Reverses motors
motorSpeed(4,50); goFor(1); //Runs both motors at 50% power for 1 second
brake(4); //Brakes both motors
//Updated power for line 2 to be 40 instead of 30. Allowed AEV to start moving
Performance Test Codes (Excluding Final Performance Test Code)
Code for Performance Test 1 Version 3
\\INITIAL ACCELERATION PHASE
\\Starting the AEV from rest towards the gate the first time
reverse(4); \\Reverses motors (The AEV would go the wrong way otherwise)
celerate(4,0,20,2); \\Accelerates both motors from 0 to 20% over 2 seconds
motorSpeed(60); \\Runs both motors at 60%
goToAbsolutePosition(260); \\AEV runs at 60% until it reaches the abs. Position 260 marks
\\POWER BRAKING SEQUENCE 1
\\Used for stopping at gate first time with just AEV
reverse(4); \\Reverses motors
motorSpeed(4,90); \\Runs both motors at 90%
goFor(1); \\Runs motors for 1 second
brake(4); \\Brakes all motors
gofor(7.5); \\Waits 7.5 seconds for gate to open
\\SECOND ACCELERATION PHASE
\\This phase is temporary, just used for p.t. 1 to get through gate
reverse(4); \\Reverses all motors so that the AEV goes the right way
celerate(4,0,20,2); \\Accelerates both motors from 0 to 20% over 2 seconds
motorSpeed(20); goFor(1.5); \\Runs both motors at 20% for 1.5 seconds
\\Changes V1 – Power increased from 40 to 60 in line 3
\\Changes V2 – Decreased marks from 300 to 260 line 4
\\Changes V3 – Added SECOND ACCELERATION PHASE to get through gate for p.t. 1
Code 1 for Performance Test 2 Version 7
\\INITIAL ACCELERATION PHASE
\\Starting the AEV from rest towards the gate the first time
reverse(4); \\Reverses motors (The AEV would go the wrong way otherwise)
celerate(4,0,20,2); \\Accelerates both motors from 0 to 20% over 2 seconds
motorSpeed(60); \\Runs both motors at 60%
goToAbsolutePosition(260); \\AEV runs at 60% until it reaches the abs. Position 260 marks
\\POWER BRAKING SEQUENCE 1
\\Used for stopping at gate first time with just AEV
reverse(4); \\Reverses motors
motorSpeed(4,90); \\Runs both motors at 90%
goFor(1); \\Runs motors for 1 second
brake(4); \\Brakes all motors
gofor(7.5); \\Waits 7.5 seconds for gate to open
\\SECOND ACCELERATION PHASE
\\This phase takes the AEV from the gate to the loading zone
reverse(4); \\Reverses all motors so the AEV travels in the right direction
celerate(4,0,20,2); \\Accelerates both motors from 0 to 20% over 2 seconds
motorSpeed(4,60); \\Both motors at 60%
goToAbsolutePosition(525); \\Both motors at 60% until abs. Position 525 marks
\\POWER BRAKING SEQUENCE 2
\\This phase brakes the AEV for connection with the caboose
reverse(4); \\Reverses both motors
motorSpeed(4,75); \\Both motors at 75%
goFor(1); \\Run motors for 1 second
brake(4); \\Brake both motors
goFor(8.5); \\Wait for passengers to load (at least 5 seconds at complete stop)
\\THIRD ACCELERATION PHASE
\\This phase is temporary for AEV to leave loading zone for p.t. 2
reverse(4); \\Reverses both motors so AEV travels in the right direction
motorSpeed(4,60); \\Both motors at 60%
goFor(3); \\Run motors for 3 seconds
brake(4); \\Brake both motors
\\Changes V1 – Changed motorSpeed from 50% to 60% in line 11
\\Changes V2 – Decreased marks from 600 to 500 in line 12
\\Changes V3 – Increased marks from 500 to 525 line 12
\\Changes V4 – Decreased motorSpeed from 90 to 80 line 16
\\Changes V5 – Decreased goFor from 1.5 to 1 line 17
\\Changes V6 – Decreased motorSpeed from 80 to line 16
\\Changes V7 – Increased goFor from 7 to 8.5 line 19
Code 2 for Performance Test 2 Version 3
\\INITIAL ACCELERATION PHASE
\\Starting the AEV from rest towards the gate the first time
reverse(4); \\Reverses motors (The AEV would go the wrong way otherwise)
celerate(4,0,20,2); \\Accelerates both motors from 0 to 20% over 2 seconds
motorSpeed(60); \\Runs both motors at 60%
goToAbsolutePosition(260); \\AEV runs at 60% until it reaches the abs. Position 260 marks
\\POWER BRAKING SEQUENCE 1
\\Used for stopping at gate first time with just AEV
reverse(4); \\Reverses motors
motorSpeed(4,90); \\Runs both motors at 90%
goFor(1); \\Runs motors for 1 second
brake(4); \\Brakes all motors
gofor(7.5); \\Waits 7.5 seconds for gate to open
\\SECOND ACCELERATION PHASE
\\This phase takes the AEV from the gate to the loading zone
reverse(4); \\Reverses all motors so the AEV travels in the right direction
celerate(4,0,20,2); \\Accelerates both motors from 0 to 20% over 2 seconds
motorSpeed(4,50); \\Both motors at 50%
goToAbsolutePosition(535); \\Both motors at 50% until abs. Position 535 marks
\\POWER BRAKING SEQUENCE 2
\\This phase brakes the AEV for connection with the caboose
reverse(4); \\Reverses both motors
motorSpeed(4,65); \\Both motors at 65%
goFor(1); \\Run motors for 1 second
brake(4); \\Brake both motors
goFor(8.5); \\Wait for passengers to load (at least 5 seconds at complete stop)
\\THIRD ACCELERATION PHASE
\\This phase is temporary for AEV to leave loading zone for p.t. 2
reverse(4); \\Reverses both motors so AEV travels in the right direction
motorSpeed(4,60); \\Both motors at 60%
goFor(3); \\Run motors for 3 seconds
brake(4); \\Brake both motors
\\Changes V1 – Changed motorSpeed from 60% to 50% in line 11
\\Changes V2 – Increased marks from 525 to 535 in line 12
\\Changes V3 – Decreased Power Braking from 75% to 65% line 16