The flat portions from 3s-4s, 4s-6s, and 6s to 8s indicate where the AEV is travelling at a constant speed and thus using a roughly constant incremental energy. The spike in energy at 6 seconds indicates the energy used to reverse the motors.
The flat portions of this graph also indicate where the AEV was using a constant energy and not changing the speed of the motors. The spike in this graph also indicates where the AEV was reversed.
The group used a slightly modified version of the scenario provided in Exercise 3 in the Lab manual. The different powers of the motors were changed. The code associated with these plots is as follows (with steps commented).
//1. Accelerate all motors from start to 25% in 3 seconds.
celerate(4,0,25,3);
//2. Run all motors at a constant speed (25% power) for 1 second.
goFor(1);
//3. Run all motors at 20% power for 2 seconds.
motorSpeed(4, 20);
goFor(2);
//4. Reverse all motors.
reverse(4);
//5. Run all motors at a constant speed (25% power) for 2 seconds.
motorSpeed(4, 25);
goFor(2);
//6. Brake all motors.
brake(4);