Design (Last Tested January 31st, 2018)
This standard design features a rectangular base with trapezoidal wings on the front side. Directly below each wing is a motor connected to a propeller. An L-shaped arm protrudes vertically from the base, holding the two wheels as well as the reflectance sensors. Below the base in the secured battery, and the audrino board is placed on the top of the base in front of the L-shaped arm.
From a simple test of the AEV on the track, multiple findings were discovered dealing with the nature of this specific design of the AEV. It was determined that the vehicle lacked significant stability and balance, leaning horizontally while stationary on the track and shifting vertically when changing directions. Second, the propellers acted as a better source of accurate propulsion than predicted, allowing for a somewhat uniform transportation. Third, the asymmetry of the vehicle caused for one direction of travel to be more efficient than the other, having the air resistance being a bigger contributor towards smooth motions than brainstormed.
Code (Last Updated January 31st, 2018)
celerate(1,0,15,2.5);
goFor(1);
brake(1);
% Accelerated motor 1 from 0% to 15% power in 2.5 seconds, and then held that power for 1
% second before braking the motor.
celerate(2,0,27,4);
goFor(2.7);
celerate(2,27,15,1);
brake(2);
% Accelerates motor 2 from 0% to 27% power in 4 seconds, and then held that power for 2.7
% seconds. Then, motor 2 decelerated from 27% to 15% power in 1 second, and then the brakes
% were applied.
reverse(2);
celerate(4,0,31,2);
motorSpeed(4,35);
goFor(1);
brake(2);
goFor(3);
brake(4);
% Motor 2 is then reversed. Both motors are accelerated from 0% to 31% power in 2 seconds.
% The acceleration for both motors is then changed directly to 35% power, being held like that
% for 1 second. Motor 2 is then braked, and 3 seconds later, the other motor is braked.
motorSpeed(4,25);
goFor(2);
motorSpeed(4,20);
goToAbsolutePosistion(295.4);
% Both motors are put directly at 25% power, being held at that level for 2 seconds. Then, both
% motors are switched directly to 20% power until the vehicle is 295.4 marks from its
% original position.
reverse(4);
motorspeed(4,30);
goFor(1.5);
brake(4);
% Both motors are reversed and set directly to 30% power, being held at that level for 30
% seconds. Then, both motors are braked.
reflectanceSensorTest();
% Tells the program that a test to ensure the sensors are working properly is being performed.
celerate(4,0,25,3);
motorSpeed(4,25);
goFor(1)
motorSpeed(4,20);
goFor(2);
reverse(4)
motorSpeed(4,25);
goFor(2);
brake(4);
% Accelerates both motors from 0% to 25% power in 3 seconds, then switched the power
% directly to 25% for both motors. This level is held for 1 second before both motors are
% switched directly to 20% power. This level is held for 2 seconds and then both motors are
% reversed and set directly to 25% power. This level is held for 2 seconds before both motors
% are braked.
External Links
For the preliminary sketch designs, please see the following:
Creative Design Thinking
For added information on the sensors used on the AEV, please see the following:
Reflectance Sensors
For information on the specific calls used in the audrino code, please see the following:
Programming Basics
For material related to the design analysis tool, please see the following:
Design Analysis Tool
For the concept screening and concept scoring spreadsheets and outcomes, please see the following:
Concept Screening and Scoring
