Vehicle Configuration Testing

The purpose of Performance Test 1 was to create two separate versions of the Advanced Energy Vehicle and find out which version of this vehicle is a more effective design. Both designs are shown below:

Configuration 1:

Configuration 2:

 

 

 

 

 

 

 

 

 

Configuration 1 was a design that had the arm of the AEV perpendicular to the surface of the acrylic board. This design provided more stability for the craft and was based on Team D’s previous Advanced Energy Vehicle Designs. Configuration 2 was a vertical configuration, also based on previous designs but was chosen because the weight of the vehicle was proportioned differently. Also, the Advanced Energy Vehicle was easier to perform maintenance on and to run tests on, given that the controls faced their operators when placed on the track. Team D would have liked to use the same code for both designs, however, the vehicles functioned separately and thus it was not possible to do so. Both codes for the configurations can be found below. When both designs were run on the track, the data was pulled off and the data is shown below.

  

As shown in the graphs above, the perpendicular test used an average of 53 joules while the parallel test used an average of 62 joules, creating a difference of 9 joules. This is a substantial difference, and this behavior stayed the same across multiple tests. Team D theorizes that the extra energy consumption of the parallel design came from the craft slightly torquing forward, even though the arm was moved multiple times to try to prevent this behavior. This likely caused the back wheel to lift up, causing more weight to be placed on one wheel and thus changing the angle at which the thrust comes out. This would be responsible for the 9 joules lost between tests.

This vehicle testing will make the group Advanced Energy Vehicle not only more efficient but also more stable. This is due to the testing to make sure that the arm is as centered as possible so that the craft does not lean to one direction or another.

Vehicle Code: (For a list of these functions and how they work, go here.)

Configuration 1:

reverse(4); Reverses all motors
servoProp.write(13); Pitches the prop to 13 degrees
motorSpeed(4,40); Sets all motors to 40% power
goToAbsolutePosition(450); Go 450 marks forward
aevServo.write(48); Brake the aev
goFor(1); Keep the brakes on for 1 second
aevServo.write(0); Released the brake
motorSpeed(4,0); Sets motor speed to zero
goFor(6.5); Waits 6.5 seconds
motorSpeed(4,40); Bursts all motors at 40%
goFor(2); Bursts for 2 seconds

Configuration 2:

reverse(4); Reverses all motors
aevServo.write(0); Resets the brake
servoProp.write(0); Resets the prop pitch
delay(100); Waits 100 milliseconds
servoProp.write(13); Sets the prop to 13 degrees
motorSpeed(1,40); Sets the motor to 40% power
goToAbsolutePosition(500); Go 500 marks forward
motorSpeed(1,0); Brakes the motors
goToAbsolutePosition(604); Coasts to 604 marks
aevServo.write(50); Applies the brake
goFor(1); Waits for one second
aevServo.write(0); Un-applies the brake
goFor(7.5); Waits 7.5 seconds