Purpose:
To determine time to stop in celerate(); function versus goFor(); function.
To determine the relationship with time in each function
Equipment:
AEV with updated design
Battery
Track
Ruler
Procedure:
1. Run AEV uphill to the gate with changing celerate() function time and constant goFor() function time.
**time will only change
// Reverse all motors, pushes forwards
reverse(4);
// Accelerate from 0 to 40% power in 1 second
celerate(4, 0, 40, 1);
// Motors at 40% power till 8 ft mark (160 on full battery, 165 for used battery), midpoint of incline
motorSpeed(4,40);
goToAbsolutePosition(160);
// Brake to cut power
brake(4);
// Reverse all motors, accelerate form 0% power to 40%, in time seconds for 1 second, to stop
reverse(4);
celerate(4, 0, 45,time);
goFor(1);
// Break to stop push-back break before the gate
brake(4);
–
A) At time=0.25
B) At time=0.5
C) At time=0.75
D) At time=1
–
2. Run AEV uphill to the gate with constant celerate() function time and changing goFor() function time.
**time will only change
// Reverse all motors, pushes forwards
reverse(4);
// Accelerate from 0 to 40% power in 1 second
celerate(4, 0, 40, 1);
// Motors at 40% power till 8 ft mark (160 on full battery, 165 for used battery), midpoint ofincline
motorSpeed(4,40);
goToAbsolutePosition(160);
// Brake to cut power
brake(4);
// Reverse all motors, accelerate form 0% power to 40%, in 0.25 seconds for time seconds, to stop
reverse(4);
celerate(4, 0, 45, 0.25);
goFor(time);
// Break to stop push-back break before the gate
brake(4);
–
A) At time=0.5
B) At time=0.75
C) At time=1
D) At time=1.25
–
This is the measurement for where the AEV landed in this lab.
Changing the time that it takes for the AEV to accelerate to the same power while reversing. Results from step 1 of the procedure:
| Code | Did the AEV hit the stop sign? | Did the AEV reach the sensors to open the gate? | Position where the front wheel of the AEV ended from the first sensor |
| celerate(4,0,45,0.25)
goFor(1);
|
No | Yes | 3 inches |
| celerate(4,0,45,0.5);
goFor(1);
|
No | Yes | 4.75 inches |
| celerate(4,0,45,0.75)
goFor(1);
|
No | No | -0.5 inches |
| celerate(4,0,45,1);
goFor(1);
|
No | No | -.75 inches |
–
Changing the time that the AEV reverses after it is accelerated to the same power. Results from step 2 of the procedure:
| Code | Did the AEV hit the stop sign? | Did the AEV reach the sensors to open the gate? | Position where the front wheel of the AEV ended from the first sensor |
| celerate(4,0,45,0.25)
goFor(0.5);
|
Yes | Yes | 2.5 inches |
| celerate(4,0,45,0.25)
goFor(0.75);
|
Yes | Yes | 5.5 inches |
| celerate(4,0,45,0.25)
goFor(1);
|
No | Yes | 3.75 inches |
| celerate(4,0,45,0.25)
goFor(1.25);
|
No | No | -3.5 inches |
The optimal code would have a ‘No’ in the first column and a ‘Yes’ in the second column.
Progress Report:
- Which method of braking actually works from the tested above? Two methods from step 1 worked and one method from step 2 worked. However, the code from step 2 that worked was the same as one of the step 1 code. Therefore, only two codes that the team tested worked. Those codes were: celerate(4,0,45,0.25); goFor(1); & celerate (4,0,45,0.5); goFor(1);.
- Which method of braking is most accurate for the team’s AEV, based off distance closest to gate sensor? Ou of these two codes, the celerate(4,0,45,0.5); goFor(1); code is more accurate for the team’s AEV because it went 4.75 inches after the first sensor, which is almost exactly in the middle of the two sensors.