Tests for finding the optimal starting speed and the ideal traveling speed for Two-motor AEV
2-Motor Test 1
motorSpeed(1,0);
motorSpeed(2,0);
motorSpeed(4,20); // 1. Set motors to 20%
goFor(5); // 2. Go for 5 sec
celerate(4,20,30,5); // 3. Accel all motors from 20% to 30% in 5 sec
goFor(5); // 4. Go for 5 sec
celerate(4,30,40,5); // 5. Accel all motors from 30% to 40% in 5 sec
brake(4); // 6. brake all motors
Observations: The AEV did not begin to move until reaching 40% motor power. A setting of at least 40% is required to begin movement.
2-motor Test 2
motorSpeed(1,0);
motorSpeed(2,0);
motorSpeed(4,40); // 1. Set motors to 40%
goFor(5); // 2. Go for 5 sec
celerate(4,40,50,5); // 3. accel all motors from 40% to 50% in 5 sec
goFor(5); // 4. Go for 5 sec
celerate(4,50,60,5); // 5. accel all motors from 50% to 60% in 5 sec
brake(4); // 6. brake all motors
Observations: The AEV began moving immediately, but became unstable and jumped off the track at 60% power.
2-motor Test 3
motorSpeed(1,0);
motorSpeed(2,0);
motorSpeed(4,40); // 1. Set motors to 40%
celerate(4,40,30,5); // 2. decel all motors from 40% to 30% in 5 sec
brake(4); // 3. brake all motors
Observation: Once the motors broke static friction at 40% power, the AEV continues to move until the end of the code. A lower limit for movement has not yet been reached.
2-motor Test 4
motorSpeed(1,0);
motorSpeed(2,0);
motorSpeed(4,40); // 1. Set motors to 40% to break static friction
motorSpeed(4,30); // 2. Set motors to 30% (previous lower limit)
celerate(4,30,20,5); // 3.decel all motors from 30% to 20% in 5 sec
brake(4); // 4. brake all motors
Observation: The AEV stopped moving after approximately 3 seconds, indicating a lower limit for movement between 26% and 24% motor power.