First Design:
The first design came out from our team for the AEV was the based on the template design. A consensus was found that this design would be suitable for initial testing until further development was done.
Second Design:
After the running through the tests in Motor Configuration lab, our team decided to change the AEV design. This design has motors on opposite ends of the AEV. Please refer to the Motor Configurations Lab under Design Process section for more detail.
Final Design:
Before running the second design in the Final performance test, a small adjustment was needed to be made. One of the motors needed to be dropped to incorporate the metal brake that the caboose would attach to. The team reasoned that dropping this motor would not significantly impact the performance of the AEV. Thus, this became our final AEV design.
AEV Processing Code:
(changes in code were recorded during the design process)
The same code file was updated all throughout the testing. Comments are added to show when new sections of code were added for individual performance tests.
// INITIALIZING MOTORS
// The following codes were added in PERFORMANCE TEST ONE
reverse(4);
reverse(1);
// BEFORE THE GATE
while (getTotalMarks() < 240)
{
motorSpeed(4,35);
}
// BRAKE AT THE GATE
brake(4);
reverse(4);
motorSpeed(4,50);
goFor(1.32);
reverse(4);
// WAIT AT THE GATE
brake(4);
goFor(7.6);
// AFTER THE GATE
while (getTotalMarks() < 418)
{
motorSpeed(4,35);
}
// The following codes were added in PERFORMANCE TEST TWO
brake(4);
goFor(3.27);
brake(4);
goFor(5);
// CONNECT
// GOING BACK
reverse(4);
motorSpeed(4,70);
goToAbsolutePosition(452);
// The following codes were added in PERFORMANCE TEST THREE
// AT THE GATE
brake(4);
reverse(4);
motorSpeed(4,50);
goFor(1.6);
brake(4);
goFor(8);
// AFTER THE GATE
brake(4);
reverse(4);
motorSpeed(4,70);
goFor(2.3);
brake(4);
goFor(3);
//Finish Line Braking
brake(4);
reverse(4);
motorSpeed(4,50);
goFor(1);