Throughout the challenge, the AEV had to perform multiple performance tests to make sure the team was on track to finish the project by the deadline and that the AEV was able to perform the necessary tasks.
The task that the AEV must perform includes moving 14 feet, 4 feet of which are on an incline. After the 14 feet, the AEV must stop between two sensors and wait 7 seconds. After waiting seven seconds, the AEV must then move again. This task is depicted below with the measurements.
There were three performance tests throughout the challenge, each successively adding more requirements the AEV had to meet.
Performance Test 1
The goal of performance test 1 was to have the AEV make it the gate, stop for 7 seconds, the proceed out of the stopping area.
Code:
Analysis:
The graphs show that the AEV used power by turning the motors on and moved toward the gate. Once it reached the gate, it stopped for around 8 seconds and then the motors turned back on. This used power and moved the AEV out of the gate/stopping area.
Performance Test 2
The goal of performance test 2 was the perform the same scenario as performance test 1 with added requirements. The added requirements were the AEV had to make it to the other side of the track and connect to the caboose without the front wheel of the AEV moving past a red piece of tape that was on the track. After connection, the AEV had to move out of the loading zone.
Code:
reverse(4);//set motors to rotate to move AEV in forward direction
motorSpeed(4,38);//set all 4 motors to 38% power
goToAbsolutePosition(-233);//keep motors on until AEV has reached 233 marks
brake(4);//turn off all 4 motors
goFor(10);//keep motors turned off for 10 seconds
motorSpeed(4,33);//set all 4 motors t0 33% power
goToAbsolutePosition(-381);//keep motors on until the AEV has reached additional 148 marks
brake(4);//turn off all 4 motors
goFor(20);//keep motors turned off for 20 seconds
reverse(4);//set motors to move AEV back to starting position
motorSpeed(4,25);//set all 4 motors to 25% power
goFor(4);//keep motors rotating for 4 seconds
Data:
Analysis:
The graphs show the power usage to move the AEV along the track. The AEV is at a complete stop when the power is at zero. There is a small amount power used each time the line spikes up because the AEV is moving a shorter distance.
Performance Test 3
The goal of performance test 3 was the same as performance test 2 with added requirements. The added requirements were the AEV had to proceed back to the gate, wait 7 seconds, then move back to the initial starting position.
Code:
rotateServo(60);//move servo arm up
reverse(4);//setting motors to move AEV up hill to gate
motorSpeed(4,38);//all 4 motors at 38% power
goToAbsolutePosition(-282);//motors on until AEV reaches gate
brake(4);//turn off all 4 motors
rotateServo(0);//move servo arm down onto wheel
goFor(8);//keep servo arm on wheel for 8 seconds
rotateServo(60);//move servo arm up off wheel
motorSpeed(4,38);//all 4 motors
goToAbsolutePosition(-378);//move after gate 100 more marks
brake(4);//stop motors right at start of down hill
goFor(15);//keep motors off for 20 seconds
reverse(4);//setting motors to bring AVE back to startng spot
motorSpeed(4,40);//all 4 motors at 40% power
goToRelativePosition(250);//moving AEV to gate
brake(4);
rotateServo(0);//move servo arm down to wheel
goFor(8);//keep servo arm on wheel for 8 seconds
rotateServo(60);//move Servo arm off wheel
motorSpeed(4,40);//all 4 motors
goToRelativePosition(85);//moving AEV past gate
brake(4);//turn off all motors
goFor(2);//keep motors off for 2 seconds
rotateServo(0);//move Servo arm onto wheel
goFor(5);//keep Servo arm on wheel for 5 seconds
Data:
Analysis:
The graphs show movement of the AEV when there is power being used and no movement of AEV when no power is being used. The AEV consistently used around the same amount of power each time it moved on the track.
Average Time: 60.961 seconds
Average Power: 140.894 Joules
This power was more efficient then the class average at 263.4 J.