Progression of Code

Glossary of Arduino Functions (“PR&D”):

Function Call	Function
celerate(m,p1,p2,t);	motors (m) are accelerated/decelerated from an initial percent power (p1) to a final percent power (p2) in a time (t) seconds
motorSpeed(m,p);	motors (m) are initialized at percent power (p)
goFor(t);	motors run for a time (t) seconds at initialized state
brake(m);	brakes motors (m)
reverse(m);	reverses the motors (m)
goToRelativePosition(n);	runs the motors at previous command for n marks (can be positive or negative)
goToAbsolutePosition(n);	runs the motors at previous command for n marks relative to AEV starting position

Scenario 1:

This code was used to learn how to operate the AEV at the beginning of the semester. 

//Accelerate motor one from start to 15% power in 2.5 seconds.

celerate(1,0,15,2.5);

//Run motor one at a constant speed (15% power) for 1 second.

goFor(1);

//Brake motor one.

brake(1);

//Accelerate motor two from start to 27% power in 4 seconds.

celerate(2,0,27,4);

//Run motor two at a constant speed (27% power) for 2.7 seconds.

goFor(2.7);

//Decelerate motor two to 15% power in 1 second.

celerate(2,27,15,1);

//Brake motor two.

brake(2);

//Reverse the direction of only motor 2.

reverse(2);

//Accelerate all motors from start to 31% power in 2 seconds.

celerate(4,0,31,2);

//Run all motors at a constant speed of 35% power for 1 second.

motorSpeed(4,35);

goFor(1);

//Brake motor two but keep motor one running at a constant speed (35% power) for 3 seconds.

brake(2);

goFor(3);

//Brake all motors for 1 second.

brake(4);

goFor(1);

//Reverse the direction of motor one.

reverse(1);

//Accelerate motor one from start to 19% power over 2 seconds.

celerate(1,0,19,2);

//Run motor two at 35% power while simultaneously running motor one at 19% power for 2 seconds.

motorSpeed(2,35);

goFor(2);

//Run both motors at a constant speed (19% power) for 2 seconds.

motorSpeed(2,19);

goFor(2);

//Decelerate both motors to 0% power in 3 seconds.

celerate(4,19,0,3);

//Brake all motors.

brake(4);

Scenario 2:

This code was  also used to learn how to operate the AEV at the beginning of the semester.  It was coded for a specific scenario given in lab 2.

motorSpeed(4,25);  //sets motor speed of AEV motors from to 25% power

goFor(2);  //keeps all motors going at 25% power for 2 seconds

motorSpeed(4,20);  //changes all motor speed to 20% power

goToAbsolutePosition(295);  //keeps the motors at 20% power until they rotate 295 marks

reverse(4);  //reverse the polarity of all motors

motorSpeed(4,30);  //changes all motor speed to 30% power

goFor(1.5);  //keeps all motors going at 30% power for 1.5 seconds

brake(4);  //brakes all motors

 

Scenario 3:

This code was used to learn how to operate the AEV at the beginning of the semester.  It was coded for a specific scenario given in lab 3.

reverse(4); // Now ‘forward’ actually moves the AEV in the direction I want it to

celerate(4,0,40,3); // Found that 25% power didn’t get the AEV to work so I used 40% instead

goFor(1);

motorSpeed(4,35); // Found that 30% power didn’t get the AEV to work so I used 35% instead

goFor(2);

reverse(4);

motorSpeed(4,40); // Found that 25% power didn’t get the AEV to work so I used 40% instead

goFor(2);

brake(4);

 

Performance Test 1:

This code is for the first performance test of getting the AEV to the stop sign, stopping for 7 seconds, and continuing on. It had some problems such as not stopping the correct spot to trigger the stop sign lift. The reflective sensors ran in the opposite direction in this scenario, which caused our positions to be negative. The vehicle design included our 3-D printed part, which may have contributed to inconsistent results. This code was only tested in one room.

//  Room 224

reverse(4);

celerate(4,0,45,2);

goToAbsolutePosition(-360);

brake(4);

reverse(4);

motorSpeed(4,30);

goFor(2);

brake(4);

reverse(4);

motorSpeed(4,0);

goFor(7);

celerate(4,0,45,2);

motorSpeed(4,30);

goFor(2);

brake(4);

 

Performance Test 2

The reflective sensors were adjusted, so a positive position was used and the vehicle design was changed to a third altered design. This code worked for both rooms.

//Going up hill

celerate(4,0,40,2);

goToAbsolutePosition(350);

brake(4);

//Braking before gate

reverse(4);

motorSpeed(4,20);

goFor(2);

brake(4);

//stopping at gate

reverse(4);

motorSpeed(4,0);

goFor(7);

//going through gate

celerate(4,0,35,2);

motorSpeed(4,35);

goFor(3.1);

brake(4);

//braking before caboose

reverse(4);

motorSpeed(4,20);

goFor(2);

//stopping at caboose for 5 seconds

motorSpeed(4,0);

goFor(7);

//going back up hill with caboose

celerate(4,0,40,3);

goFor(3);

Final Performance Test Code

Code at start of performance testing.

The AEV design used was the same design used in Performance Test 2. The position function was replaced with travelling for a specific time in order to eliminate potential reflectance sensor errors. 

/* //224

// going up hill
motorSpeed(4,37.5);
goFor(3.5);
brake(4);

//Braking before gate
reverse(4);
motorSpeed(4,20);
goFor(2);
brake(4);

//stopping at gate
reverse(4);
motorSpeed(4,0);
goFor(7);

//going through gate
motorSpeed(4,30);
goFor(3.5);
brake(4);

//braking before caboose
reverse(4);
motorSpeed(4,15);
goFor(2);

//stopping at caboose for 5 seconds
motorSpeed(4,0);
goFor(5);

//going back up hill with caboose
motorSpeed(4,43.5);
goFor(7);

//braking at top of hill?
reverse(4);
motorSpeed(4,27.5);
goFor(2);
brake(4);

//stopping at gate
reverse(4);
motorSpeed(4,0);
goFor(7);

//going through gate
motorSpeed(4,45);
goFor(5);
brake(4);

//gliding down hill using the power of gravity
motorSpeed(4,0);
goFor(3);

//hard brake
reverse(4);
motorSpeed(4,35);
goFor(2.5);
*/

//308
motorSpeed(4,40);
goToAbsolutePosition(375);
brake(4);

//Braking before gate
reverse(4);
motorSpeed(4,25);
goFor(2);
brake(4);

//stopping at gate
reverse(4);
motorSpeed(4,0);
goFor(7);

//going through gate
motorSpeed(4,35);
goFor(3.4);
brake(4);

//braking before caboose
reverse(4);
motorSpeed(4,17);
goFor(2);

//stopping at caboose for 5 seconds
motorSpeed(4,0);
goFor(5);

//going back up hill with caboose
motorSpeed(4,40);
goFor(7);

//braking at top of hill?
reverse(4);
motorSpeed(4,25);
goFor(2);
brake(4);

//stopping at gate
reverse(4);
motorSpeed(4,0);
goFor(7);

//going through gate
motorSpeed(4,45);
goFor(5);
brake(4);

//gliding down hill using the power of grAVITY
motorSpeed(4,0);
goFor(3);

//hard brake
reverse(4);
motorSpeed(4,40);
goFor(2.5);

Code  used on 4/4/19

This code was changed from the previous code and continuously modified to get a code for the final performance test.