Pre-performance test:
Due to extenuating circumstances, the original AEV that was built needed to be replaced with a completely new AEV kit. The new AEV built from the kit uses the exact same parts in the same location as the original one. Despite this, the new AEV proved to be much more efficient. With the same amount of power braking used before, the AEV would continue coasting much longer. The braking needed to be nearly doubled in order to compensate for this and to be able to efficiently and accurately complete the performance test. The time used for braking was also increased from 1 second to 1.5 seconds. The sensors have been attached in the correct direction to now use positive marks, and less of them, resulting in more consistency.
Room Hitchcock 224
/* Go to gate and wait for 7 sec */
motorSpeed(4,40); //sets all motors to 40%
goToRelativePosition(238); //goes to 238 marks displacement from previous position
reverse(4); //reverses all motor directions
goFor(1); //continues previous command for 1 second
motorSpeed(4,30); //sets all motors to 30%
goFor(1); //runs all motors at 30% for 1 second
brake(4); //cuts power to all motors
goFor(7); //continues previous command for 7 seconds
Room Hitchcock 308
/* Go to gate and wait for 7 sec */
motorSpeed(4,40); //sets all motors to 40%
goToRelativePosition(-215); //goes to 215 marks displacement from previous position
reverse(4); //reverses all motor directions
goFor(1); //continues previous command for 1 second
motorSpeed(4,30); //sets all motors to 30%
goFor(1); //runs all motors at 30% for 1 second
brake(4); //cuts power to all motors
goFor(7); //continues previous command for 7 seconds
Power-Time graph for first few tests
Performance Test:
The overall efficiency of the AEV has improved remarkably. When attached to the caboose the extra weight makes stopping more consistent, and with the large acceptable area it passes correctly at a very high rate. This led the group to start testing with more coasting to a stop when hauling the caboose. Using more coasting is more energy efficient, but also has less consistency in stopping location. The act of picking up the caboose proved to be quite simple. Attaching to the caboose causes a significant immediate slow down, so coasting into was a simple task to accomplish. The decline is also used to help with coasting to the caboose and therefore saving more energy.
Room Hitchcock 224
/* Go to gate and wait for 7 sec, move past the gate*/
motorSpeed(4,40); //sets all motors to 40%
goToRelativePosition(212); //goes to 212 marks displacement from previous position
reverse(4); //reverses all motor directions
goFor(1); //continues previous command for 1 second
motorSpeed(4,35); //sets all motors to 35%
goFor(1); //runs all motors at 30% for 1 second
brake(4); //cuts power to all motors
goFor(7); //continues previous command for 7 seconds
reverse(4); //reverses all motor directions
goFor(1); //continues previous command for 1 second
motorSpeed(4,30); //sets all motors to 30%