Performance Test Three

  • The final performance test focused on finishing the mission with minimizing the accuracy penalty, power consumption, and time elapsed. Three runs have been recorded and the best two runs were averaged for the total cost.
  • The mission of Performance Test three is that the AEV passes through the gate, connects to the caboose, waits for 5 seconds, pulls the caboose back to the gate, passes the gate again, and pulls the caboose back to the original position.
  • The code Team K used for the final performance test is presented below.
celerate(4,0,25,3);//Accelerate all motors from start to  25% in 3 seconds.
motorSpeed(4,25);
goFor(5);//Run all motors at a constant speed (25% power) for 5 seconds
reverse(4);//Reverse all motors.
motorSpeed(4,23);
goFor(2);//Run all motors at a constant speed (23% power) for 2 second.
brake(4);//Brake all motors
goFor(6);//For 6 seconds
reverse(4);//Reverse all motors
celerate(4,0,25,3);//Accelerate all motors from start to  25% in 3 seconds.
motorSpeed(4,25);
goFor(3);//Run all motors at a constant speed (25% power) for 3 second
reverse(4);//Reverse all motors
motorSpeed(4,26);;//Run all motors at a constant speed (26% power)
goFor(2);//For 2 seconds
brake(4);//brake all motors
goFor(9);//For 9 seconds
celerate(4,0,50,3);//Accelerate all motors from start to  50% in 3 seconds.
motorSpeed(4,50);
goToRelativePosition(-205);/Run all motors at a constant speed (25% power) for relatively -205 marks
reverse(4);//reverse all motors
motorSpeed(4,26);//Run all motors at a constant speed (26%power)
goFor(2);//for 2 seconds
brake(4);//brake all motors
goFor(6);//for 6 seconds
reverse(4);//reverse all motors
celerate(4,0,50,3);//Accelerate all motors from start to  50% in 3 seconds.
motorSpeed(4,50);
goFor(4);//Run all motors at a constant speed (50% power) for 4 second.
brake(4);//brake all motors
goFor(1);//for 1 second
reverse(4);//reverse all motors
motorSpeed(4,32);//Run all motors at a constant speed of 32% power
goFor(2);//For 2 seconds
brake(4);//brake all motors
  • The plots of all three runs are presented below.

 

Power vs. Distance

Power vs. Time

  • During the final performance test, due to inconsistencies and variables between different rooms, complete precision was not attained. However, Team K was successful in completing the full run and avoiding any safety violations.
  •  The total budget is presented below:

Total Costs for three runs

The final total cost is calculated by averaging the best two runs, which is $651,570.88.