Code for Power Braking:
- Codes:PBR1
- celerate(4,0,20,2);
- goToRelativePosition(73.85);
- reverse(4);
- goFor(1);
- Codes:PBR2
- celerate(4,0,25,2);
- goToRelativePosition(73.85);
- reverse(4);
- goFor(1);
Power Braking Data:
Trial 1:
- Distance- 52.75 in
- Time until stop- 3.49 s
Trial 2:
- Distance- 66 in
- Time until stop- 3.95 s
Pros and Cons of Power Braking:
One pro of power braking is that it is a more controlled way to stop the AEV. This allows the team to choose a desired location at which the AEV should come to a stop. Power braking also allows for very consistent results through each trial, removing the variance that comes with uncontrolled coasting to stop.
There was only one main con that was brought to the team’s attention during the testing of power braking. This is that power braking requires an increased amount of energy compared to that of coasting. However, this is overruled by the increased precision that comes with it.
Code for Coasting:
- Codes: CRUN1
- celerate(4,0,20,2);
- goToRelativePosition(73.85);
- Codes: CRUN2
- celerate(4,0,25,2);
- goToRelativePosition(49.23);
Coasting Data:
Trial 1:
- Distance- 88 in
- Time until stop- 5.05 s
Trial 2:
- Distance- 84 in
- Time until stop- 5.3 s
Pros and Cons of Coasting:
The main pro that comes with coasting compared to power braking is being able to save energy by allowing the AEV to naturall arrive at a complete stop.
This pro comes with many cos, however. The process of going to a stop takes a longer amount of time. It is also less reliable than power braking because the location where the AEV changes slightly each trial due to variances in the trials, such as placement, external forces, battery power, etc.
Moving forward
Moving forward, our team will testing power braking further and if the tests run successfully, it will be implemented in the final design plans.