Final Performance Test

Data:

Power vs. Time

Graph 1: Final Performance Test – Power vs. Time

 

Power vs. Distance

Graph 2: Final Performance Test – Power vs. Distance

 

Analysis:

The Final AEV performance test showed very promising results with more room for improvement. The power consumption was consistently around 200 joules and the time was 52 seconds. The final test struck a balance between speed and power consumption. We considered using one motor instead of two before we captured the caboose, but this would have lowered our time. We also considered having the AEV travel right to the caboose and use the mechanical break to stop short of the caboose. However, the inconsistency of where the AEV stopped prevented this from ever being done. In addition, this method would have used more power than the coasting method. The coasting method always had a consistent soft and slow capture of the caboose, which was the purpose for adding the shock absorber. While the performance test was successfully completed, we still experienced inconsistencies in our AEV, mainly where exactly it would stop when the break was applied, but also have fast it was going when trying to park the AEV with caboose and when it was capturing the caboose. This made testing the AEV tedious. We considered switching the Arduino code completely to timing instead of relying solely on the reflectance sensors to accurately measure counts. However, we did not have enough time to successfully implement this strategy and as a result we had to stick with the position based code. Overall our final test yielded good time and power usage and successfully completed the objective of the AEV, to pick up and then deliver a caboose to the starting location.

Arduino Code:

//AEV motor’s are reversed so it can go forward

reverse(4);

reverse(1);

rotateServo(20);

//All motors at 32% power until 300 marks to get to the gate

motorSpeed(4,32);

goToAbsolutePosition(291);

brake(1);

brake(2);

rotateServo(45);

//Motors stop and pause for 8 seconds at the gate

motorSpeed(4,0);

goFor(8);

rotateServo(20);

//All motors at 32% power for 3.1 seconds to pass through the gate and then coast to the caboose

motorSpeed(4,32);

goFor(2.1);

motorSpeed(4,0);

goFor(12);

brake(1);

brake(2);

//Goes back to the gate and pauses for 8 seconds

reverse(4);

motorSpeed(4,50);

goToRelativePosition(-250);

rotateServo(45);

motorSpeed(4,0);

goFor(8);

rotateServo(20);

//Goes back through the gate and stops in the loading zone

motorSpeed(4,55);

goFor(4);

brake(1);

brake(2);

motorSpeed(4,0);

goFor(2.1);

rotateServo(45);