The servo motor was affixed to the L-shape arm on top of the AEV right behind the front wheel. The servo arm would rotate, make contact with the wheel, and stop the AEV. The team decided to keep the servo on the AEV, with a few modifications. The first modification was finding the right amount of rotation for the servo arm so that it makes sufficient contact with the wheel. The second modification was adding tape to the servo arm so that there is more friction between the arm and the wheel. With these modifications, the AEV was able to come to very quick stops, almost on-par with reversed-motor braking. The servo also draws far less battery energy than the motor braking. Based on this information obtained, that servo will be kept as it is, possibly with a new material on the arm that has a higher coefficient of friction than the current duct tape material. Figure 1 shows the attachment point of the servo.
Figure 1: Servo Attachment Point
The code used for all of the advanced R&Ds is as follows: