For our final stage of optimization, we combined everything from this project to make our final design as energy efficient, safe and quick as possible on the final test run. This run was especially important because this time the AEV was required to pick up the passenger wagon from its loading zone and bring it back through the gate to the starting point.
We first decided to use Jamey’s code for the run, after comparing his and Zach’s code for the test. It was found Jamey’s code used less energy, and was quicker each pass. After deciding on Jamey’s code, we worked to refine it as much as possible. We changed marks, and when and where the motors were used.
| rotateServo(30); | // Move Servo so AEV can get put on track |
| goFor(6); | // Time to put AEV on track |
| reverse(4); | // Reverse polarity of both motors |
| motorSpeed(4,35); | // Make both motors power to 35 |
| goToAbsolutePosition(248); | // Continue motor speed until it reaches 248 marks |
| brake(4); | // Cuts motors |
| goToAbsolutePosition(300); | // Wait until AEV reaches 300 marks |
| rotateServo(52); | // Used to brake AEV |
| goFor(4); | // Hold brake position for 4 seconds |
| rotateServo(30); | // Takes the brake off the track |
| goFor(4); | // Keep AEV in this position until gate opens |
| motorSpeed(4,36); | // Get AEV through gate |
| goToAbsolutePosition(378); | // Keep speed until 378 marks |
| brake(4); | // Cuts motors |
| goToAbsolutePosition(540); | // wait until AEV reaches 540 marks |
| rotateServo(12); | // use front servo brake |
| goFor(0.7); | // brake for 0.7 seconds |
| rotateServo(30); | // stop braking |
| goFor(11); | // connect to AEV and wait for ~5 seconds |
| reverse(4); | // reverse motor polarity |
| motorSpeed(4,38); | // set motor speed to 38 |
| goToAbsolutePosition(427.5); | // get AEV and Caboose up incline |
| brake(4); | // cut motor power |
| goToAbsolutePosition(384); | // Wait until 384 marks for next command |
| rotateServo(52); | // Brake AEV before reaching gate |
| goFor(2); | // Keep braking for 2 seconds |
| rotateServo(30); | // take AEV brake off track |
| goFor(6); | // stay in gate area for 6 seconds |
| motorSpeed(4,38); | // used to take AEV and Caboose through gate |
| goToAbsolutePosition(295); | // keep motor speed until 295 marks |
| brake(4); | // cut motor power |
| goToAbsolutePosition(210); | // wait for AEV to reach 210 marks |
| rotateServo(50); | // brake the AEV |
| goFor(0.5); | // brake for 0.5 seconds |
| rotateServo(30); | // take brake off of track |
| goFor(.5); | // wait for 0.5 seconds |
| goToAbsolutePosition(118.5); | // wait until AEV reaches 118.5 marks |
| rotateServo(51); | // brake AEV |
| goFor(0.4); | // brake for 0.4 seconds |
| rotateServo(30); | // take brake off track |
| goFor(0.1); | // wait 0.1 seconds |
| goToAbsolutePosition(20); | // wait for AEV to reach 20 marks |
| rotateServo(51); | // brake AEV |
| goFor(1); | // brake for 1 second |
| rotateServo(30); | // take brake off track |
| goFor(0.8); | // initialize servo position to stay at 30° |
Here you can see the final lines of code that we found to make the AEV run within all of the goals and parameters we had set. Our final joules used from this code was on average 180, and it took 67 seconds to complete the run. This was the best we could achieve from our vehicle. Overall, we were about $31,245 dollars over our budget. We believe if we had more time, this would be under budget once we fixed all of our consistency issues with the reflectance sensors and battery voltage.