After the first two performance tests, the team decided to use the servo motor to stop the AEV before gates and when picking up cargo. Even though the team learned from the aR&D labs that coasting is more energy efficient, the team decided to incorporate the servo motor into the code because the AEV will be able to travel faster, stop more accurately, and the code will be easier to write. The graph below compares the same code run with one test using the servo motor, and the other using coasting. As you can see, the servo test used less energy.
For the second performance test, the team had to program the AEV to move past the gate continue down the track, connect to the cargo, and wait five seconds before starting back to the station. Essentially the same code was used to complete both performance tests, with a short section was added to complete the second performance test.
The code used for the second performance test can be found here.