Lab 4 Deliverable:
In the power vs time graph you see the power level rise as the celerate command is executed for 3 seconds up to 25% power. It then maintains this power level for the 3 second goFor Command. The drop represents the 3 second goFor command at 20% power. The power peaks as the reverse command is executed. It then returns to 25% power for 2 second. Then all power is cut as the break command is executed.
In the power vs distance graph the AEV moves ≈ .8 meters at 25% power in accordance with the celerate and goFor commands. After the AEV moves a further ≈.6 meters after running the goFor command at 20% power. The power then peaks as the reverse command is executed, then drops as the break command is executed. After breaking begins it takes ≈.5 for the AEV to come to a complete stop.
Lab 4 Arduino Code:
//1
celerate(4,0,25,3);
//2
motorSpeed(4,25);
goFor(3);
//3
motorSpeed(4,20);
goFor(2);
//4
reverse(4);
//5
motorSpeed(4,25);
goFor(2);
//6
brake(4);