Final Performance Test

In the Final Performance Test, the team conducted three runs that had the AEV run the full track. Of the three runs conducted, two runs were successful while the other was unsuccessful. The first run was successful, only needing assistance when stopping at the gate, picking up the load and stopping at the starting dock. In 61 seconds, the AEV used 222.5 Joules of energy during this run. The second run was the most successful run, needing no assistance at all. In 59 seconds, the AEV used 219.5 Joules of energy during this run. The third run was unsuccessful. The run started out good and looked as if it would be another successful run until it approached the gate with the load in tow. The AEV went too far past the sensors and triggered the gate to stay closed. The code must have had bugged out during this time which caused it to fail. A team member was waiting at the gate to stop this from happening, however, they were not quick enough to act.

 

Final Performance Test: Run 1 Data

The above graph shows the data gathered from the first run of the final performance test. As mentioned before, this run used a total of 222.5 Joules of energy and completed the run in 61 seconds. The run starts out by accelerating up the incline and decreasing the speed a little to prepare for the power brake. The first spike shows the first power brake that makes the AEV stop at the gate. The AEV waits for 7 seconds before proceeding through the gate. As the AEV coasts towards the load, a small power brake is added around 28 seconds to allow for a soft attachment to the load. Once attached, the AEV waits 5 seconds before accelerating up the second incline and heading back. As it approaches the gate, the speed is decreased until power brake initiates and the AEV stops at the gate for 7 seconds. It should be noticed that around 43 seconds, the spike is quite larger than the previous spikes. This is where the power brake occurs and it makes sense for this to be higher because the AEV will need to use more power to stop due to more momentum from having the load attached. This can also be seen at the end when the AEV finally comes to a stop at the starting dock. Once the gate opens, the AEV proceeds through and will coast towards the starting dock where it will finally come to a stop. This run was considered a perfect run, even though the AEV required some assistance when stopping at the gate and attaching to the load, because it was able to complete every objective.

Final Performance Test: Run 2 Data

The above graph shows the data gathered from the first run of the final performance test. As mentioned before, this run used a total of 219.5 Joules of energy and completed the run in 59 seconds. The run starts out by accelerating up the incline and decreasing the speed a little to prepare for the power brake. The first spike shows the first power brake that makes the AEV stop at the gate. The AEV waits for 7 seconds before proceeding through the gate. As the AEV coasts towards the load, a small power brake is added around 27 seconds to allow for a soft attachment to the load. Once attached, the AEV waits 5 seconds before accelerating up the second incline and heading back. As it approaches the gate, the speed is decreased until power brake initiates and the AEV stops at the gate for 7 seconds. It should be noticed that around 40 seconds, the spike is quite larger than the previous spikes. This is where the power brake occurs and it makes sense for this to be higher because the AEV will need to use more power to stop due to more momentum from having the load attached. This can also be seen at the end when the AEV finally comes to a stop at the starting dock. Once the gate opens, the AEV proceeds through and will coast towards the starting dock where it will finally come to a stop. This run was a perfect run as the AEV required no assistance when conducting the run and therefore was the team’s best run.

 

[The following code is written for the “Final Performance Test” section for the AEV project] (8.23-8.24 Volts)

reverse(4); celerate(4,0,30,0.25); goToRelativePosition(90);	//Moving from starting dock to incline. Accelerate from 0% to 30% power for 0.25 seconds. Move 90 marks forward.
celerate(4,30,35,0.25); goToRelativePosition(57);	//Increase power from 30% to 35% in 0.25 seconds to get up incline. Move 57 marks forward.
celerate(4,35,25,0.25); goToRelativePosition(28);	//Decrease power usage from 35% to 25% power in 0.25 seconds to start braking as approaching gate. Move 28 marks forward.
reverse(4); motorSpeed(4,32); goFor(1);	//Power brake Reverse all motors and set speed to 32% power for 1 second.
motorSpeed(4,0); goFor(6.8);	//Shut off all power to all motors for 6.8 seconds.
reverse(4); motorSpeed(4,30); goToRelativePosition(60);	//Reverse all motors again and set all motors to 30% power. Move 60 marks forward.
motorSpeed(4,0); goToRelativePosition(270);	//Shut off all power to all motors and coast towards load. Move 270 marks forward.
reverse(4); motorSpeed(4,25); goFor(0.845);	//Reverse all motors and set power usage to 25% for 0.845 seconds. Power brake.
motorSpeed(4,0); goFor(5);	//Shut off all power to all motors for 5 seconds. Picking up load.
celerate(4,0,35,1); goToRelativePosition(-155);	//Accelerate from 0% to 35% power in 1 second to get up second incline coming back. Move 155 marks backwards.
celerate(4,35,0,0.25); goToRelativePosition(-51);	//Set power usage for all motors from 35% to 0% in 0.25 seconds. Move 51 marks backwards.
reverse(4); motorSpeed(4,40); goFor(2);	/Reverse all motors for power brake. Set all motors at 40% power usage for 2 seconds.
motorSpeed(4,0); goFor(6.8);	//Shut off all power to all motors for 6.8 seconds.
reverse(4); celerate(4,0,35,0.25); goToRelativePosition(-45);	//Reverse all motors again as the AEV proceeds through the gate. Set power usage for all motors from 0% to 35% in 0.25 seconds. Move 45 marks backwards.
motorSpeed(4,0); goToRelativePosition(-210);	//Shut off all power to all motors. Move 210 marks backwards. Coast towards starting dock.
reverse(4); motorSpeed(4,40); goFor(2.5);	//Reverse all motors for power brake. Set all motors at 40% power usage for 2.5 seconds. AEV has stopped at starting dock with the load in tow.