Controller Glossary
The AEV controller program which has been uploaded into the Arduino interface allows for shortcut functions that easily operate with the AEV. The key functions defined below.
celerate(m,p1,p2,t);
Accelerates or decelerates motor(s) m from start speed (%) p1 to end speed (%) p2 over a duration of t seconds.
Parameters:
m – integer value selecting motors 1 to 3. 4 will select all motors
p1 – percentage from 0 to 100 specifying start power percentage.
p2 – percentage from 0 to 100 specifying end power percentage.
t – duration of acceleration in seconds.
motorSpeed(m,p);
Initializes motor(s) m at percent power p.
Parameters:
m – integer value selecting motors 1 to 3. 4 will select all motors.
p – percentage from 0 to 100 specifying motor power.
goFor(t);
Runs the previous command at their initialized state for t seconds.
Parameters:
t – duration in seconds.
brake(m);
Brakes motor(s) m . Note: This does NOT brake the AEV, just stops the motors from spinning.
Parameters:
m – integer value selecting motors 1 to 3. 4 will select all motors.
reverse(m);
Reverses the polarity(direction) of motor(s) m .
Parameters:
m – integer value selecting motors 1 to 3. 4 will select all motors.
goToRelativePosition(n);
Continues the previous command for n marks from the vehicle’s current position.
Parameters:
n – integer value representing number of marks to travel. Positive values indicate forward positions while negative values indicate a position behind the vehicle. One mark = 0.4875 inches using standard wheels.
goToAbsolutePosition(n);
Continues the previous command for n marks relative to the overall starting position of the AEV.
Parameters:
n – integer value representing number of marks to travel. Positive values indicate forward positions while negative values indicate a position behind absolute(starting) position. One mark = 0.4875 inches using standard wheels.