Group N’s Approach for Performance Tests:
Used the goToAbsolutePosition() function.
- Limited the amount of testing needed if we were to use the acceleration function for the code
Used power braking
- Limited the variation that coasting the AEV to a stop would cause
- Used reverse and motorSpeed functions to power brake.
Test 1:
- AEV must travel uphill to the first sensor in order for it to trigger the closed gate.
- The AEV must stop before the gate between the sensors and pause for seven seconds in order for the gate to open.
- Finally, the AEV must travel past the opened gate.
Test 2:
- Test 1
- Once through the gate, the AEV must safely travel down the system and connect with the load without recoiling from the loading dock.
- The AEV must pause for 5 seconds in the loading zone and then leave the zone with the load attached
Test 3:
- Tests 1 and Test 2
- After leaving the zone with the load, AEV must be able to stop again at the gate between the sensors, to trigger its opening.
- The AEV must wait for 7 seconds for the gate to open and then travel back to the starting dock safely without recoiling out of it.
*AEV must achieve this with
~ minimal errors
~ a 2.5 minute time limit
~ space between magnet and Arduino
Code for Performance Tests:
// Performance Test 1
motorSpeed(4,50); // Sets motor speed of all motors to 50%
goToAbsolutePosition(239); // Goes to absolute position of 239 marks
reverse(4); // Reverses all motors
motorSpeed(4,51); //Sets the motor speed of all motors to 51%
goFor(.917); //Runs at 51% for 0.917 seconds
reverse(4); // Reverses all motors
motorSpeed(4,0); //Sets the motor speed of all motors to 0%
goFor(7.5); //Runs at 0% for 7.5 seconds
motorSpeed(4,40); // Sets motor speed of all motors to 40%
// Performance Test 2
goToAbsolutePosition(580); // Goes to absolute position of 239 marks
reverse(4); // Reverses all motors
motorSpeed(4,48); //Sets the motor speed of all motors to 48%
goFor(1); //Runs at 48% for 1 second
motorSpeed(4,0); //Sets the motor speed of all motors to 0%
goFor(5.5); //Runs at 0% for 5.5 seconds
motorSpeed(4,60); // Sets motor speed of all motors to 40%
goToAbsolutePosition(500); // Goes to absolute position of 500 marks
reverse(4); // Reverses all motors
motorSpeed(4,75); //Sets the motor speed of all motors to 75%
goFor(1.1); //Runs at 75% for 1 second
// Final Performance Test
motorSpeed(4,0); //Sets the motor speed of all motors to 0%
goFor(8); //Runs at 0% for 8 seconds
reverse(4); // Reverses all motors
motorSpeed(4,34); //Sets the motor speed of all motors to 34%
goToAbsolutePosition(150); // Goes to absolute position of 150 marks
reverse(4); // Reverses all motors
motorSpeed(4,60); //Sets the motor speed of all motors to 60%
goFor(1); //Runs at 60% for 1 second
brake(4); //Brakes all motors
Data for Final Run:
Final Time: About 50 seconds
Energy: About 290 Joules
Cost of AEV:
Final Costs: