Lab 1:
Function Call Glossary
celerate (m, p1, p2, t); – Cause motor(s) m to accelerate or decelerate from start speed (%) p1 to end speed (%) p2 over t seconds
motorSpeed(m,p); – Initializes motor(s) m at percent power p
goFor(t); – runs motors in their current state for t seconds
brake(m); – Causes motor(s) m to stop running. NOTE: This does NOT cause the AEV to stop, this function only stops the motors
reverse(m); – reverses motion of motor(s) m
goToRelativePosition(n); – Continues command for n marks from the vehicle’s current position. n can be positive or negative, with positive ordering the vehicle is moving forward, negative making the vehicle move backward
goToAbsolutePosition(n); – Continues the previous command for n marks relative to the overall starting position of the AEV
Progress Report Questions
- Both motors worked properly, although there was resistance at the start of the program. Motors 1 and 2 were slow to start, but once they did start to spin they held a constant and fast speed. They were able to transition well between starting and stopping afterward.
Lab 2
Reflectance Sensor Deliverables
- The function of reflectance sensors is to react to reflectant tape, each time it passes by the sensors and counts it as a mark. This is crucial to fulfilling our MCR as we are trying to fulfill our goals as quickly and efficiently as possible, so knowing how the reflectance sensors work and using them to our advantage would be a step in the right direction.
Progress Report Questions
- Some reoccurring issues that we will have to deal with are how the AEV does not stop as the command is given and the positions are estimated. The AEV does not brake immediately after the command is given by the Arduino, so we will have to account for that in future testings. The reflectance sensors could have also been inaccurate as well.