Goal: Send AEV up an incline, stop at the gate for at least seven seconds, and proceed through the gate.
Power vs Distance Graph
Power vs Time Graph
Overview of Performance Test: Before performing the first performance test, a solution to the AEV’s leaning problem was needed. To combat this error the Arduino board was moved slightly to the right, the arm moved to the right, and the battery is slightly positioned to the right all in order to counterbalance the lean of the AEV. Once the issue of the lean was resolved performance test 1 began first beginning with the group design.The team tested two different designs in this test both the Final Modified Design(purple line on graph) and the Group Initial Design(blue line on graph). While testing the Group AEV it was discovered that we had a brake(7) command within our code that was allowing the AEV to reach the gate in approximately 60 marks absolute position however this was not consistent. Changing to a brake(4) command improved the consistency of the AEV’s movements. After switching the AEV seemed to never stop we went through multiple steps of testing the AEV going to 120-180 marks once reaching 120 we deemed it impossible to go any lower. Then the team discovered the fact that the motors were in reverse polarity meaning that when we switched the code to go to approximately – 180 marks relative position. This was apparently the key to solving our problem after switching the AEV reached the gate. The same test was performed on the Final Design, the Final AEV outperformed the Group AEV by reaching the gate faster than the Group Design by approximately two seconds and going only slightly less distance.
Code Used
reverse(1);
motorSpeed(4,28);
goToRelativePosition(-180);
brake(4);
goFor(13);
motorSpeed(4,21);
Performance Test 2
reverse(1);
motorSpeed(4,29);
goToRelativePosition(-175);
brake(4);
goFor(13);
motorSpeed(4,21);
goFor(5);
reverse(4);
motorSpeed(4,20);
goFor(4);
brake(4);
goFor(5);
motorSpeed(4,50);
goFor(5);