Website Deliverable code:
celerate(m, p1, p2, t): this command allows you to speed up or slow down motors in the AEV depending on how fast you want them. Input the motor number where the m is. 4 is all motors. P1 is the start speed while p2 is the resulting speed. T is how many seconds to transition from one to the other.
motorSpeed(m,p): initializes the motor m, to the speed of p. P is always the percent power you wish to give the motor
goFor(t): this command runs the motors at the initialized speed for t amount of seconds.
brake(m) brakes the motor m. This stops the motor from spinning but the speed won’t stop initially.
reverse(m): this will select a motor and reverse it so that it spins the other direction. Useful for slowing down
goToRelativePosition(n): this command will continue the previous command for n amount of ticks on the board. This is relative to where the cart is and not how many ticks are on the track.
goToAbsolutePosition(n): this command will continue down n marks relative to the entire track. This will continue the previous command till it reaches its destination.
The reflective sensors are vital to the control of the AEV and judging distance. Because the AEV needs a way to judge its position from things like the edge and the location to pick up the goods it would not easily know exactly when to stop and/or go to without the knowledge from the sensors.
The external sensors on the AEV are used as a way to measure the distance, or inform the AEV on a specified distance that is needed to travel. The sensors work by reading the reflective aluminum tape on the back wheel as it makes revolutions. Each mark corresponds to 0.4875 inches, in which the AEV will travel.