Evolution of Design

Evolution of code:

Track Variance Codes:

Pretest1: (too short)

   motorSpeed(4,25);

   goToAbsolutePosition(150);

   brake(4);

Pretest2: (too far, too slow)

   motorSpeed(4,25);

   goToAbsolutePosition(300);

   brake(4);

Pretest3:

   motorSpeed(4,35);

   goToAbsolutePosition(200);

   brake(4);

Pretest4:

   motorSpeed(4,35);

   goToAbsolutePosition(150);

   brake(4);

Pretest5: (fixed the direction, worked

 motorSpeed(4,30);

 goToAbsolutePosition(-75);

 brake(4);

Track 1,1: (48”)

 motorSpeed(4,30);

 goToRelativePosition(-200);

 brake(4);

Track1,2: (13”)

 motorSpeed(4,30);

 goToRelativePosition(-225);

 brake(4);

Track1,3: (8”)

 motorSpeed(4,30);

 goToRelativePosition(-230);

 brake(4);

Track 2,1: (16”)

 motorSpeed(4,30);

 goToRelativePosition(-225);

 brake(4);

Track2,2: (13”)

   motorSpeed(4,30);

 goToRelativePosition(-230);

 brake(4);

Track 2,3: (8”)

 motorSpeed(4,30);

 goToRelativePosition(-235);

 brake(4);

Track3,1: (13”)

   motorSpeed(4,30);

 goToRelativePosition(-230);

 brake(4);

Track 3,2: (4”)

 motorSpeed(4,30);

 goToRelativePosition(-235);

 brake(4);

Track4,1: (9”)

   motorSpeed(4,30);

 goToRelativePosition(-230);

 brake(4);

Track 4,2: (2”)

 motorSpeed(4,30);

 goToRelativePosition(-235);

 brake(4);

-Results show the AEV should be set at 35% power to run for 235 marks to coast to the first stopping gate.

Coast Test:

1:

//Run at 35% for 100 marks

    motorSpeed(4,35);

    goToRelativePosition(100);

    //brake all motors (coasting test)

    brake(4);

2:

//Run at 35% for 50 marks

   motorSpeed(4,35);

   goToRelativePosition(50);

   //brake all motors (coasting test)

   brake(4);

3: (realized to make propellers the same, even from this test on)

//Run at 35% for 25 marks

   motorSpeed(4,35);

   goToRelativePosition(25);

   //brake all motors (coasting test)

   brake(4);

4:

//Run at 35% for 50 marks

   motorSpeed(4,35);

   goToRelativePosition(50);

   //brake all motors (coasting test)

   brake(4);

5:

//Run at 35 to 170 marks

   motorSpeed(4,35);

   goToRelativePosition(-150);

   brake(4);

Caboose 1:

//Run at 45 to 170 marks

   motorSpeed(4,45);

   goToRelativePosition(-150);

   brake(4);

Caboose 2:

//Run at 45 to 200 marks

   motorSpeed(4,45);

   goToRelativePosition(-200);

   brake(4);

Reverse test:

1:

//Run at 35 to 100 marks

   motorSpeed(4,35);

   goToRelativePosition(100);

   //reverse motors at 35 for 1.5

   reverse(4);

   motorSpeed(4,35);goFor(1.5);

2:

//Run at 35 to 50 marks

   motorSpeed(4,35);

   goToRelativePosition(50);

   //reverse motors at 35 for 1.5

   reverse(4);

   motorSpeed(4,35);goFor(1.5);

3:

//Run at 35 to 25 marks

   motorSpeed(4,35);

   goToRelativePosition(-25);

   //reverse motors at 35 for 1.5

   reverse(4);

   motorSpeed(4,35);goFor(1.5);

4:

//Run at 35 to 170 marks

   motorSpeed(4,35);

   goToRelativePosition(-170);

   //reverse motors at 35 for 1.5

   reverse(4);

   motorSpeed(4,35);goFor(1.5);

5:

//Run at 35 to 200 marks

   motorSpeed(4,35);

   goToRelativePosition(-200);

 //Reverse motors at 45 for 1.5 seconds

   reverse(4);

   motorSpeed(4,35);

   goFor(1.5);

Caboose 1:

//Run at 45 to 200 marks

   motorSpeed(4,45);

   goToRelativePosition(-200);

 //Reverse motors at 45 for 1.5 seconds

   reverse(4);

   motorSpeed(4,45);

   goFor(1.5);

Caboose 2:

//Run at 45 to 200 marks

   motorSpeed(4,45);

   goToRelativePosition(-170);

 //Reverse motors at 45 for 1.5 seconds

   reverse(4);

   motorSpeed(4,45);

   goFor(1.5);

-Coasting results in less power than reverse braking but takes more time.

 

Second design: This design used the L arm for stabilization and was lightweight but had a higher cost of production than the final design. $163,870

Final design: This design is our current model we are planning to construct. It is lightweight and cheap in comparison to the other designs. $134,650