Summary:
For Performance Test 2, the team continued with their use of AEV Prototype B. Prototype B was now tested with two different programs with the task of maneuvering to the end of the track, safely connecting with caboose, waiting ~5s, and exiting the docking area. For the first half of both programs, the code from Performance Test 1 was used. Afterwards, Program A used power braking to stop closer to the caboose while Program B used a mix of coasting and power braking. The programs were compared on their time, energy usage, and safety when connecting. It was found that both were similar in all ways except in connecting, which Program A proved to be safer.
Results:
Running Program A, the AEV completed the test in 32 seconds and used on average 103.7 Joules (Figure 5). Running Program B, the AEV completed the test in 31 seconds and used on average 103.9 Joules (Figure 6). Even though Program B completed the task quicker using the same amount of energy, it was not consistent with final wheel placement while Program A was consistent. As a result of this, the team decided to use Program A as the framework for future Performance Test programs. Possible error in this lab could have been caused by using different tracks for each test just as in Performance Test 1.
Program A Data:
Program B Data:
AEV Used:
AEV Prototype B:
Arduino Program:
Program A:
reverse(4); // reverse all motors
motorSpeed(4,25); // run all motors at 25% power
goToRelativePosition(147); // go to relative position 147
motorSpeed(4,26); // run all motors at 26% power
goToRelativePosition(95); // go to relative position 95
brake(4);
goFor(0.25); // brake all motors for 0.25s
reverse(4); // reverse all motors
motorSpeed(4,27);
goFor(1.9); // run all motors at 27% for 1.9s
brake(4);
goFor(7); // brake all motors for 7s
reverse(4); // reverse all motors
motorSpeed(4,25); // run all motors at 25% power
goToRelativePosition(130); // go to relative position 130
brake(4);
goFor(.5); // brake all motors for 0.5s
reverse(4); // reverse all motors
motorSpeed(4,27);
goFor(1.5); // run all motors at 27% power for 1.5s
brake(4);
goFor(8); // brake all motors for 8s
motorSpeed(4,35);
goFor(3.5); // run all motors at 35% for 3.5s
Program B:
reverse(4); // reverse all motors
motorSpeed(4,25); // run all motors at 25% power
goToRelativePosition(147); // go to relative position 147
motorSpeed(4,26); // run all motors at 26% power
goToRelativePosition(95); // go to relative position 95
brake(4);
goFor(0.25); // brake all motors for 0.25s
reverse(4); // reverse all motors
motorSpeed(4,27);
goFor(1.9); // run all motors at 27% for 1.9s
brake(4);
goFor(7); // brake all motors for 7s
reverse(4); // reverse all motors
motorSpeed(4,30); // run all motors at 30% power
goToRelativePosition(110); // go to relative position 110
brake(4);
goFor(.5); // brake all motors for 0.5s
reverse(4); // reverse all motors
motorSpeed(4,27);
goFor(1.5); // run all motors at 27% for 1.5s
brake(4);
goFor(8); // brake all motors for 8s
motorSpeed(4,35);
goFor(3.5); // run all motors at 35% power for 3.5s