The Final Performance Tests tied the entire projects work together. Once the final design and style of code were designated from Performance Tests 1 and 2, the Final Performance Tests required that the AEV travel back to the gate after attaching to the caboose, wait for a minimum of seven seconds between the sensors again, and slowly come to a stop at the beginning of the track without touching the end. The final code can be found in “Test Code” under Codes under Team F. For the Final Performance Tests, the motors were put into push configuration while travelling down to pic up the caboose so that it would be in pull configuration, which is the more efficient configuration, while travelling with the caboose attached. This was done because the caboose being attached required a lot more energy to make the AEV moved so it made sense the make the AEV as efficient as possible when moving with the caboose attached. Below is the final design:
The Final Performance Tests required that three consecutive runs be performed. Each run was scored out of 40 points and the best two runs were averaged for the final score. The first run was unsuccessful, but the second and third runs made it back to the beginning of the track with the caboose. The two runs averaged out to produce a final score of 30/40. This score was used in contributing to determining the total budget for the project. The total time and energy used from the second and third runs were also used for part of calculating the total budget. Below is the data from the second and third runs:
The second run used 233.072 Joules and took 62.523 seconds to complete the run. The third run used 230.479 Joules and took 62.163 seconds to complete the run. Pictured below is the final code.
Final Performance Test Code
//Reverse all motors.
reverse(4);
//Go to 243 marks from the origin position at 25% motor power. (From start to the gate)
motorSpeed(4,25);
goToRelativePosition(243);
//Brake all motors for 2.6 seconds.
brake(4);
goFor(2.6);
//Reverse motors and run at 27.4% speed for .8 seconds. (Power brake)
reverse(4);
motorSpeed(4,27.4);
goFor(.8);
//Reverse all motors and wait for 7 seconds.
reverse(4);
goFor(7);
//Travel 46 marks at 25% speed. (From gate to caboose)
motorSpeed(4,25);
goToRelativePosition(46);
//Brake all motors for 7.2 seconds.
brake(4);
goFor(7.2);
//Reverse motors and run at 25% power for 27 marks.
reverse(4);
motorSpeed(4,25);
goToRelativePosition(27);
//Brake all motors for 7 seconds.
brake(4);
goFor(7);
//Travel 236 marks backwards at 42% power. (To gate with caboose)
motorSpeed(4,42);
goToRelativePosition(-236);
//Brake all motors for 1.8 seconds.
brake(4);
goFor(1.8);
//Reverse all motors and run at 40% power for .7 seconds. (Power break at gate)
reverse(4);
motorSpeed(4,40);
goFor(.7);
//Reverse all motors and wait for 7.5 seconds.
reverse(4);
goFor(7.5);
//Travel for 2.6 seconds at 50% speed. (From gate to start)
motorSpeed(4,50);
goFor(2.6);
//Brake motors for 5 seconds.
brake(4);
goFor(5);
//Reverse all motors and run at 45% power for 1.4 seconds. (Power break at start)
reverse(4);
motorSpeed(4,45);
goFor(1.4);