Overview:
The focus of performance test 2 was creating an effective code for the chosen AEV design. In performance test 2, the team was tasked with running the AEV to attach to the cargo, wait five seconds, and run a short distance towards the starting position. This performance test builds on performance test one. Division O’s approach is outlined below.
Design of track used:
Code Used:
motorSpeed(1,30); // initializes initial motor speed
goToAbsolutePosition(275); // go to near gate
reverse(1); // switches motor polarity
motorSpeed(1,50); // strengthens motor
goFor(0.5); // power brakes aev
motorSpeed(1,0); // makes motor run at 0 power
reverse(1); // changes motor polarity to go through gate
goFor(7); // waits 7 seconds for gate
motorSpeed(1,30); // makes motor run at 30 %
goToAbsolutePosition(565); // runs motor until it’s near the cart
reverse(1); // changes motor polarity to back towards gate
motorSpeed(1,50); // makes motor run at 50% for power breaking
goFor(0.5); // power brakes until it hits cart
motorSpeed(1,0); // makes motor run at 0%
goFor(6); // waits with cart
motorSpeed(1,40); // runs at 40% power
goToAbsolutePosition(385); // takes aev/cart back to gate
reverse(1); // reverses for power braking (back towards where we got cart)
motorSpeed(1,60); //60 % power for power-braking
goFor(1); // power brakes
Data Collected:
Observational Data
The AEV was able to pass through the gate, slowly connected to the cargo, and traveled a short distance in the reverse direction. The AEV seemed to struggle with the increased weight of the AEV. Power braking worked well at stopping the AEV at the gate and before reaching the cart
Improvements to the AEV:
The AEV was redesigned and larger walls were used on the driving wheel to ensure that the rubber band would not displace itself. New code was added and existing code was revised to accommodate the battery used for this performance test
Reflections for Future Testing:
- Increase power of the AEV when carrying the cargo
- Keep similar code to latch onto cart since it connected without pushing the cart back