The first part of the R&D involved practicing setting up the technical components such as the AEV motor mount, the AEV controller, two motors, two propellers, and a Li-Po battery. After properly configuring the components, a scenario was programmed. The scenario was as follows:
1. Accelerate motor one from start to 15% power in 2.5 seconds.
2. Run motor one at a constant speed (15% power) for 1 second.
3. Brake motor one.
4. Accelerate motor two from start to 27% power in 4 seconds.
5. Run motor two at a constant speed (27% power) for 2.7 seconds.
6. Decelerate motor two to 15% power in 1 second.
7. Brake motor two.
8. Reverse the direction of only motor 2.
9. Accelerate all motors from start to 31% power in 2 seconds.
10. Run all motors at a constant speed of 35% power for 1 second.
11. Brake motor two but keep motor one running at a constant speed (35% power) for 3 seconds.
12. Brake all motors for 1 second.
13. Reverse the direction of motor one.
14. Accelerate motor one from start to 19% power over 2 seconds.
15. Run motor two at 35% power while simultaneously running motor one at 19% power for 2 seconds.
16. Run both motors at a constant speed (19% power) for 2 seconds.
17. Decelerate both motors to 0% power in 3 seconds.
18. Brake all motors.
The corresponding code that was created based on the scenario was as follows:
celerate(1,0,15,2.5); //Accelerates motor 1 from 0% to 15% power in 2.5 seconds
motorSpeed(1,15); //Runs motor 1 at 15% power
goFor(1); //Runs motor 1 for 1 second
brake(1); //Brakes motor 1
celerate(2,0,27,4); //Accelerates motor 2 from 0% to 27% power in 4 seconds
motorSpeed(2,27); //Runs motor 2 at 27% power
goFor(2.7); //Runs motor 2 for 2.7 seconds
celerate(2,27,15,1); //Decelerates motor 2 to 15% power in 1 second
brake(2); //Brakes motor 2
reverse(2); //Reverses motor 2
celerate(4,0,31,2); //Accelerates all motors from 0% to 31% power in 2 seconds
motorSpeed(4,35); //Runs all motors at 35% power
goFor(1); //Runs all motors for 1 second
brake(2); //Brakes motor 2
motorSpeed(1,35); //Runs motor 1 at 35% power
goFor(3); //Runs motor 1 for 3 seconds
brake(4); //Brakes all motors
goFor(1); //Brakes all motors for 1 second
reverse(1); //Reverses motor 1
celerate(1,0,19,2); //Accelerates motor 1 from 0% to 19% in 2 seconds
motorSpeed(2,35); //Runs motor 2 at 35% power
motorSpeed(1,19); //Runs motor 1 at 19% power
goFor(2); //Runs motor 1 and 2 for 2 seconds
motorSpeed(4,19); //Runs all motors at 19% power
goFor(2); //Runs all motors for 2 seconds
celerate(4,19,0,3); //Decelerates all motors to 0% in 3 seconds
brake(4); //Brakes all Motors
The motor ran well, however there were some resistance observed when the motor was directed to run at lower speeds. The motor didn’t have enough power to rotate the propellers.