Synopsis:
This lab’s purpose was to research whether it would be more efficient to use one or two motors in the AEV design. It was concluded that the two motor configuration was better because even though it uses more power, the overall energy used is lower than the one motor configuration.
Deliverables:
Motor Configurations:
Two motors:
One motor:
Takeaways:
It was found that two motors are better than one motor. From the tests, the average power usage from two motors was around 3.6 watts with a peak(when the motors reversed) at around 8.5 watts and a total energy consumption of 30.1 joules. The average during the one motor test was around 2.2 watts with a peak at around 4.5 watts and total energy consumption of 32.7 joules Though the two motor AEV used twice as much power, it was able to go the set distance (around 0.33m) in half the time as the one motor AEV (4.25s vs. 8.75s) and used almost the same amount of energy. From this, it was concluded that two motors is the better choice.
CODE:
reverse(4); // reverse polarity of the motors
celerate(4,0,25,3); // accelerate all motors from 0% to 25% in 3 seconds
motorSpeed(4,25);
goToRelativePosition(25); // run all motors at 25% power until position 25
reverse(4); // reverse polarity of motors
motorSpeed(4,25);
goFor(2); // run all motor at 25% power for 2 seconds
celerate(4,25,0,3); // decelerate all motors from 25% to 0% in 3 seconds
brake(4); // turn off all motors
Figures:
One Motor Power vs. Time:
One Motor Power vs, Distance:
Two Motors Power vs. Time:
Two Motors Power vs. Distance:
