The absolute team goal was to complete the Final Performance Test (FPT) for the group’s AEV. The FPT included was the combination of Performance Test 1 (PT1) and Performance Test 2 (PT2) requirements with additional criteria. FPT required that the AEV begin at the starting dock. From the starting dock, the AEV travels within the sensors before the Stop Gate. When the vehicle proceeds past the first sensor, a seven (7) second timer begins. If the AEV proceeds through the second sensor, the run immediately fails. After seven (7) seconds, the Stop Gate raises and the AEV must pass through the gate and travel to the Loading Dock and connect to a trolley without exceeding past the Loading Dock Line. After a five (5) second pause, the AEV pulls the Trolley back to the Stop Gate to wait between the sensors for seven (7) more seconds while meeting the first Stop Gate criteria. The AEV proceeds through the Stop Gate and travels back to the initial starting point and must stop with both AEV wheels beyond the starting line without allowing the trolley wheels beyond the starting line.
Monorail Track Design. (Mission Concept Review, N.D., P 3)
The team passed with 36 of 40 points on all three runs of the performance test. The team went over budget and there are many opportunities for improvements future work. Posted below are the details of the budget.
The Total Cost for the lab was $639,897.40. The best two (2) runs of the FPT, Run 2 and Run 3, was used as an average for the Total Cost calculation. To cut down on cost, the team refrained from printing custom parts. The team had two (2) early safety violations totaling $35,000. The team had a propeller come off the AEV while the AEV was on the monorail. The team also had the AEV speed off the monorail when there was a bug in the code.
Capital costs included all standard parts and totaled $152,991. The team tried to offset the early safety violations by only using standard parts in the design. The final capital costs will be below budget compared to the reference and opposing teams.
code we use at final test
//reverse all motors
reverse(4);
//run all motors at 30%power and go to position 323
motorSpeed(4,30);
goToAbsolutePosition(323);
//reverse all motors
reverse(4);
//run all motors at 30% power and go for 1 sec
motorSpeed(4,36);
goFor(1);
//reverse all motors
reverse(4);
//run all motors at 0% power and go for 9 sec
motorSpeed(4,0);
goFor(9);
//run all motors at 30% power and go to relative position 100
motorSpeed(4,30);
goToRelativePosition(100);
//run all motors at 15% power and go to relative position 125
motorSpeed(4,15);
goToRelativePosition(125);
//reverse all motors
reverse(4);
//run all motors at 13% power and go for 2 sec
motorSpeed(4,13);
goFor(2);
//run all motors at 0% power and go for 8 sec
motorSpeed(4,0);
goFor(8);
//run all motors at 37% power and go to abs pos 487
motorSpeed(4,37);
goToAbsolutePosition(487);
//reverse all motors
reverse(4);
//run all motors at 50% power and go for 1
motorSpeed(4,50);
goFor(1);
//reverse all motors
reverse(4);
//run all motors at 0% power and go for 8 sec
motorSpeed(4,0);
goFor(8);
//run all motors at 30% power and go to relative position -155
motorSpeed(4,30);
goToRelativePosition(-155);
//reverse all motors
reverse(4);
//run all motors at 30% power and go for 4 sec
motorSpeed(4,25);
goFor(4);
//run all motors at 0% power and go for 1 sec
motorSpeed(4,0);
goFor(1);
//Brake all motors.
brake(4);
other groups performance test