Final Test Code

Final Performance Test Code

Final Performance Test Run Code for Two-Motor AEV

The overall structure of the code remain unchanged throughout final test runs. The group observed the behavior of the AEV on the monorail and found out that the AEV had slippage when stopping at the dock. To improve the code according to the rubric of final performance test, the group only slightly altered “goToRelativePosition()” at each interval of the AEV in motion.

// Run motor one at a constant speed (23% power) for 2.5 second.
//  motorSpeed(1,23);
//  goFor(2.5);

// Brake motor one.
//  brake(1);

//BEGIN TEST PROGRAM
//Initialize motors, reverse motor 3
motorSpeed(1,0);
motorSpeed(2,0);
//motorSpeed(3,0);
//reverse(3);

// start to gate
reverse(4);
motorSpeed(4,40);             // 1. Set motors to 40%
goToRelativePosition(-10);
motorSpeed(4,35);      // 2. Set motors to 35% (reduce energy use)
goToRelativePosition(-315);   // 3. go -315 marks (reverse direction, 13 feet)
motorSpeed(4,0);              // 4. all motors at 0%
goFor(7);                     // 5. wait for 7 seconds (gate opens)

// gate to load-up
motorSpeed(4,40);             // 6. Set motors to 40% (break static friction)
goToRelativePosition(-10);
motorSpeed(4,35);
goToRelativePosition(-320);   // 8. go -320 marks (13 feet)
motorSpeed(4,0);              // 9. all motors at 0%
goFor(5);                     // 10. wait for 5 seconds (magnetic hookup)

// load-up to gate
reverse(4);                   // 11. reverse motor polarity
motorSpeed(4,40);             // 12. Set motors to 40% (break static friction)
goToRelativePosition(10);
motorSpeed(4,35);           //13. Set motors to 35% (reduce energy use)
goToRelativePosition(270);    // 14. go 270 marks (11 feet)
motorSpeed(4,0);              // 15. all motors at 0%
goFor(7);                     // 16. wait for 7 seconds (gate opens)

// gate to end
motorSpeed(4,40);             // 17. Set motors to 40% (break static friction)
goToRelativePosition(10);
motorSpeed(4,35);
goToRelativePosition(290);    // 19. go 290 marks (12 feet)
motorSpeed(4,0);              // 20. all motors at 0%
reverse(4);                   // 21. set motors to original polarity