Getting Familiar with Arduino and Sketchbook
celerate(1,0,15,2.5); Accelerate motor one from start to 15% power in 2.5 seconds.jk
goFor(1); Run motor one at a constant speed (15% power) for 1 second.
brake(1); Brake motor one.
celerate(2,0,27,4); Accelerate motor two from start to 27% power in 4 seconds.
goFor(2.7); Run motor two at a constant speed (27% power) for 2.7 seconds.
celerate(2,27,15,1); Decelerate motor two to 15% power in 1 second.
brake(2); Brake motor two.
reverse(2); Reverse the direction of only motor 2.
celerate(4,0,31,2); Accelerate all motors from start to 31% power in 2 seconds.
motorSpeed(4,35); goFor(1);Run all motors at a constant speed of 35% power for 1 second.
brake(2); motorSpeed(1,35); goFor(3); Brake motor two but keep motor one running at a constant speed (35% power) for 3 seconds.
brake(4); goFor(1); Brake all motors for 1 second.
reverse(1); Reverse the direction of motor one.
celerate(1,0,19,2); Accelerate motor one from start to 19% power over 2 seconds.
motorSpeed(2,35); motorSpeed(1,19); goFor(2); Run motor two at 35% power while simultaneously running motor one at 19% power for 2 seconds.
motorSpeed(4,19); goFor(2); Run both motors at a constant speed (19% power) for 2 seconds.
celerate(4,19,0,3); Decelerate both motors to 0% power in 3 seconds.
brake(4); Brake all motors.
Code Used to Test Reflectance Sensors:
celerate(4,0,25,2); Run all motors at a constant speed of 25% power for 2 seconds.
motorSpeed(4,20); goToAbsoultePosition(25); Run all motors at a constant speed of 20% and using the goToAbsolutePosition function travel a total distance of 12 feet (from the starting point).
reverse(4); Reverse motors.
motorSpeed(4,30); goFor(1.5); Run all motors at a constant speed of 30% power for 1.5 second.
brake(4); Brake all motors.
Testing DataExtraction tool code
celerate(4,0,25,3); Accelerate all motors from start to 25% in 3 seconds.
goFor(1); Run all motors at a constant speed (25% power) for 1 second.
motorSpeed(4,20); goFor(2); Run all motors at 20% power for 2 seconds.
reverse(4); Reverse all motors.
motorSpeed(4,25); goFor(2); Run all motors at a constant speed (25% power) for 2 second.
brake(4); Brake all motors.
Motor configuration test code
Motor Configuration
- Forward test
Celerate(4,0,20,1); //Run all motors at 20% Power
goFor(5); //Runs for 5 seconds
brake(4); //Stops motors and AEV
- Reverse test
reverse(4); //reverse the motors
Celerate(4,0,20,1); //Run all motors at 20% Power
goFor(5); //Runs for 5 seconds
brake(4); //Stops motors and AEV
Servo Calibration & Use
- CODE USED FOR EXPERIMENT
celerate(4,0,40,3); // Accelerates all motors from 0 to 40% in 3 seconds
goFor(2); // Maintains speed for 2 seconds.
brake(4); // Stops all motors.
rotateServo(90); // Rotates servo arm 90 degrees.
- CODE USED FOR CONTROL
celerate(4,0,40,3); // Accelerates all motors from 0 to 40% in 3 seconds
goFor(2); // Maintains speed for 2 seconds.
brake(4); // Stops all motors.
Performance Tests
Code for Performance Test one:
celerate(4,0,35,1); //Accelerates all motors from 0 to 35% power in 1 second.
goFor(3.75); //Maintains speed for 3.75 seconds.
brake(4); //Stops all motors.
reverse(4); //Reverses the polarity of the motors.
celerate(4,0,50,2.5); //Accelerates all motors from 0 to 50% power in 2.5 seconds.
brake(4); //Stops all motors.
goFor(7); //Maintains speed for 7 seconds.
reverse(4); //Reverses the polarity of the motors.
celerate(4,0,40,8); //Accelerates all motors from 0 to 40% power in 8 seconds.
brake(4); //Stops all motors.
Code for Performance test two:
Celerate(4,0,30,1); //Accelerates all motors from 0 to 30% power in 1 second.
goFor(4.3); //Maintains speed for 4.3 seconds.
Brake(4); //Stops all motors.
Reverse(4); //Reverses the polarity of the motors.
Celerate(4,0,50,2.5); //Accelerates all motors from 0 to 50% power in 2.5 seconds.
Brake(4); //Stops all motors.
goFor(9); //Maintains speed for 9 seconds.
Reverse(4); //Reverses the polarity of the motors.
motorSpeed(4,30); //Maintains speed at 30% power.
goFor(3); //Maintains speed for 3 seconds.
Brake(4); //Stops all motors.
Reverse(4); //Reverses the polarity of the motors.
motorSpeed(4,30); //Maintains speed at 30% power.
goFor(2.38); //Maintains speed for 2.38 seconds.
Brake(4); //Stops all motors.
Celerate(4,0,35,2); //Accelerates all motors from 0 to 35% power in 2 seconds.
Brake(4); //Stops all motors.
goFor(7); //Maintains speed for 7 seconds.
motorSpeed(4,40); //Maintains speed at 40% power.
goFor(3.3); //Maintains speed for 3.3 seconds.
brake(4); //Stops all motors.
Final Performance Test
celerate(4,0,30.1); //Accelerates all motors from 0 to 30% power in 1 second.
goToAbsolutePosition(-215); //Continues the previous command for -215 marks relative to the overall starting position of the AEV
brake(4); //Stops all motors.
reverse(4); //Reverses the polarity of the motors.
celerate(4,0,40,1); //Accelerates all motors from 0 to 40% power in 1 second.
goFor(1); //Maintains speed for 1 second.
brake(4); //Stops all motors.
goFor(8.5); //Maintains speed for 8.5 seconds.
reverse(4); //Reverses the polarity of the motors.
celerate(4,0,30,1); //Accelerates all motors from 0 to 30% power in 1 second.
goToRelativePosition(-119); //Continues the previous command for -119 marks from the vehicle’s current position.
brake(4); //Stops all motors.
reverse(4); //Reverses the polarity of the motors.
celerate(4,0,24,1); //Accelerates all motors from 0 to 24% power in 1 second.
goFor(2.7); //Maintains speed for 2.7 seconds.
brake(4); //Stops all motors.
goFor(4.5); //Maintains speed for 4.5 seconds.
celerate(4,0,58,1) //Accelerates all motors from 0 to 58% power in 1 second.
goToRelativePosition(178); //Continues the previous command for 178 marks from the vehicle’s current position.
brake(4); //Stops all motors.
reverse(4); //Reverses the polarity of the motors.
celerate(4,0,33.5,2); //Accelerates all motors from 0 to 33.5% power in 2 seconds.
goFor(1); //Maintains speed for 1 second.
brake(4); //Stops all motors.
goFor(7); //Maintains speed for 7 seconds.
reverse(4); //Reverses the polarity of the motors.
celerate(4,0,50,1); //Accelerates all motors from 0 to 50% power in 1 second.
goToRelativePosition(160); //Continues the previous command for 160 marks from the vehicle’s current position.
brake(4); //Stops all motors.
reverse(4); //Reverses the polarity of the motors.
celerate(4,0,39,1); //Accelerates all motors from 0 to 39% power in 1 second.
goFor(2.3); //Maintains speed for 2.3 seconds.
brake(4); //Stops all motors.