Data:
Power vs. Time
Analysis:
The second performance test was completed without any accuracy penalties. The combination of coasting and the compression of the attachment arm was effective for minimizing the collision force between the AEV and caboose.
Data was collected from two unofficial trial runs, which can be seen in the graph above. These runs were approximately 3/4 of the final performance test distance, so it allowed for moderately accurate energy and time usage projections. The shorter run consumed 157.9 J of energy and took approximately 37 seconds. These numbers are considered reasonable but on the higher side of the desired results.
Arduino Code:
//AEV motor’s are reversed so it can go forward
reverse(4);
reverse(1);
//All motors at 32% power until 300 marks to get to the gate
motorSpeed(4,32);
goToAbsolutePosition(300);
brake(1);
brake(2);
rotateServo(45);
//Motors stop and pause for 8 seconds at the gate
motorSpeed(4,0);
goFor(8);
rotateServo(0);
//All motors at 32% power for 3.1 seconds to pass through the gate and then coast to the caboose
motorSpeed(4,32);
goFor(3.1);
motorSpeed(4,0);
goFor(12);
brake(1);
brake(2);
//Goes back to the gate
reverse(4);
motorSpeed(4,50);
goToRelativePosition(-263);
rotateServo(45)