Arduino Code

Scenario 1 Code:

motorSpeed(1,1); // initializes motor 1 at 1% power

celerate(1,1,15,2.5): // accelerates motor 1 from 1% to 15% power in 2.5 seconds

goFor(1);// runs motor 1 at 15% for 1 second

brake(1);// brakes motor 1

motorSpeed(2,1); // initializes motor 2 at 1% power

celerate(2,1,27,4);// accelerates motor 2 from 1% to 27% power in 4 seconds

goFor(2.7); // runs motor 2 at 27% power for 2.7 seconds

celerate(2,27,15,1); // decelerates motor 2 from 27% to 15% power in 1 second

brake(2);//brakes motor 2

reverse(2);// reverses motor 2

motorSpeed(1,1);// initializes motor 1 at 1% power

motorSpeed(2,1);// initializes motor 2 at 1% power

celerate(1,1,31,2);// accelerates motor 1 from 1% to 32% in 2 seconds

celerate(2,1,31,2);// accelerates motor 2 from 1% to 32% in 2 seconds

motorSpeed(1,35);// sets motor 1 to 35% power

motorSpeed(2,35);// sets motor 2 to 35% power

goFor(1);// runs motor 1 and motor 2 at 35% power for 1 second

brake(2);//brakes motor 2

goFor(3);// runs motor 1 at 35% power for 3 seconds

brake(1);// brakes motor 1

reverse(1);//reverses motor 1

motorSpeed(1,1);//initializes motor 1 at 1% power

celerate(1,1,19,2);//accelerates motor 1 from 1% to 19% power in 2 seconds

motorSpeed(2,35);// initializes motor 2 to 35% power

goFor(2);// runs motor 1 at 19% power and motor 2 at 35% power for 2 seconds

motorSpeed(2,19);// sets motor 2 to 19% power

goFor(2);// runs both motors at 19% power for 2 seconds

celerate(1,19,0,3);//decelerates motor 1 from 19% to 0% power in 3 seconds

celerate(2,19,0,3);// decelerates motor 2 from 19% to 0% power in 3 seconds

brake(1);//brakes motor 1

brake(2);// brakes motor 2

 

2 Wing Config Test:

reverse(1);//reverse motor 1

reverse(2);//reverse motor 2

motorSpeed(1,30);// initialize motor 1 to 30% power

motorSpeed(2,30);//initialize motor 2 to 30%

goToAbsolutePosition(123);//runs the motor until the AEV reaches 123 marks from the start

brake(1);//brake motor 1

brake(2);//brake motor 2

reverse(1);//reverse motor 1

reverse(2);//reverse motor 2

motorSpeed(1,30);//initialize motor 1 to 30% power

motorSpeed(2,30);//initialize motor 2 to 30% power

goToAbsolutePosition(15);//runs the motor until the AEV reaches 15 marks from the start

brake(1);//brake motor 1

brake(2);//brake motor 2

 

1 Wing Config Test:

reverse(1);//reverse motor 1

motorSpeed(1,30);//initializes motor 1 to 30% power

goToAbsolutePosition(123);//runs the motor until the AEV reaches 123 marks from the start

brake(1);//brake motor 1

reverse(1);//reverse motor 1

motorSpeed(1,30);//initialize motor 1 to 30% power

goToAbsolutePosition(40);//runs the motor until the AEV reaches 40 marks from the start

brake(1);//brake motor 1

 

Coasting Test Code:

reverse(1);//reverse motor 1

motorSpeed(1,30);//initialize motor 1 to 30% power

goToAbsolutePosition(123);//runs the motor until the AEV reaches 123 marks from the start

brake(1);//brake motor 1

 

Power Breaking Test Code:

reverse(1);//reverse motor 1

motorSpeed(1,40);//initializes motor 1 to 40% power

goToAbsolutePosition(155);//runs the motor until the AEV reaches 155 marks from the start

brake(1);//brake motor 1

reverse(1);//reverse motor 1

motorSpeed(1,40);//initializes motor 1 to 40% power

goFor(2);//runs the motor for 2 seconds

brake(1);//brake motor 1

 

Performance Test 1:

reverse(1);//reverses  motor 1

motorSpeed(1,55);//initializes motor 1 to 55% power

goToAbsolutePosition(157);//runs the motor until the AEV reaches the point 157 marks from where it began

brake(1);//brakes motor 1

goToAbsolutePosition(268);//runs the motor until the AEV reaches the point 268 marks from where it began

rotateServo(49);//rotates the servo 49 degress

goFor(5);//continues for 5 seconds

rotateServo(-49);//rotates the servo -49 degrees

goFor(3.5);//continues for 3.5 seconds

motorSpeed(1,50);////initializes motor 1 to 50% power

goToRelativePosition(80);//runs the motor until the AEV reaches the point 80 marks from where it is currently

brake(1);//brakes motor 1

 

Perfromance Test 2:

reverse(1);//reverses motor 1

motorSpeed(1,55);//initializes motor 1 to 55% power

goToAbsolutePosition(157);//runs the motor until the AEV reaches the point 157 marks from where it began

brake(1);//brakes motor 1

goToAbsolutePosition(268);//runs the motor until the AEV reaches the point 268 marks from where it began

rotateServo(49);//rotates the servo 49 degress

goFor(5);//continues for 5 seconds

rotateServo(-49);//rotates the servo -49 degrees

goFor(3.5);//continues for 3.5 seconds

motorSpeed(1,50);////initializes motor 1 to 50% power

goToRelativePosition(80);//runs the motor until the AEV reaches the point 80 marks from where it is currently

brake(1);//brakes motor 1

goToRelativePosition(211);//runs the motor until the AEV reaches the point 211 marks from where it is currently

rotateServo(50);//rotates the servo 50 degress

goFor(4);//continues for 4 seconds

rotateServo(-50);//rotates the servo -50 degrees

goFor(2);//continues for 2 seconds

 

Final Performance Test / Full Code:

reverse(1);//reverses motor 1

motorSpeed(1,55);//initializes motor 1 to 55% power

goToAbsolutePosition(157);//runs the motor until the AEV reaches the point 157 marks from where it began

brake(1);//brakes motor 1

goToAbsolutePosition(268);//runs the motor until the AEV reaches the point 268 marks from where it began

rotateServo(49);//rotates the servo 49 degress

goFor(5);//continues for 5 seconds

rotateServo(-49);//rotates the servo -49 degrees

goFor(3.5);//continues for 3.5 seconds

motorSpeed(1,50);////initializes motor 1 to 50% power

goToRelativePosition(80);//runs the motor until the AEV reaches the point 80 marks from where it is currently

brake(1);//brakes motor 1

goToRelativePosition(211);//runs the motor until the AEV reaches the point 211 marks from where it is currently

rotateServo(50);//rotates the servo 50 degress

goFor(4);//continues for 4 seconds

rotateServo(-50);//rotates the servo -50 degrees

goFor(2);//continues for 2 seconds

reverse(1);//reverses motor 1

motorSpeed(1,60);//initializes motor 1 to 60% power

goToRelativePosition(-184);//runs the motor until the AEV reaches the point -184 marks from where it is currently

brake(1);//brakes motor 1

goToRelativePosition(-4);//runs the motor until the AEV reaches the point -4 marks from where it is currently

rotateServo(50);//rotates the servo 50 degrees

goFor(5);//continues for 5 seconds

rotateServo(-50);//rotates the servo -50 degrees

goFor(4);//continues for 4 seconds

motorSpeed(1,60);//intializes motor 1 to 60% power

goToRelativePosition(-90);//runs the motor until the AEV reaches the point -90 marks from where it is currently

brake(1);//brakes motor 1

goToRelativePosition(-80);//runs the motor until the AEV reaches the point -80 marks from where it is currently

rotateServo(51);//rotates the servo 51 degrees

goFor(4);//continues for 4 seconds

rotateServo(-51);//rotates the servo -51 degrees

goFor(2);//continues for 2 seconds

 

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