Preliminary Research and Development

The purpose of Preliminary Research and Development was to understand how the AEV works, using different functions and testing them out on a basic design.

PR&D 1

// Accelerate motor 1
celerate(1,0,15,2.5);
goFor(1);

// Brake
brake(1);

// Accelerate motor 2
celerate(2,0,27,4);
goFor(2.7);

// Decelerate motor 2 then brake
celerate(2,27,15,1);
brake(2);

// Reverse motor 2
reverse(2);

// Accelerate both motors
celerate(4,0,31,2);
motorSpeed(4,35);
goFor(1);

// Brake motor 2 while motor 1 runs
brake(2);
goFor(3);

// Brake both motors
brake(4);
goFor(1);

// Reverse motor 1 then accelerate it
reverse(1);
celerate(1,0,19,2);

// Run both motors in opposite directions
motorSpeed(2,35);
goFor(2);

// Run both motors at same speed, but opposite directions still
motorSpeed(4,19);
goFor(2);

// Decelerate both motors then brake
celerate(4,19,0,3);
brake(4);

 

PR&D 2

// Run all motors at a constant speed
motorSpeed(4,25);
goFor(2);

// Decrease speed then go to absolute position of 12 feet

motorSpeed(4,20);
goToAbsolutePosition(295);

// Reverse the AEV
reverse(4);

// Run at constant speed in opposite direction
motorSpeed(4,30);
goFor(1.5);

// Brake
brake(4);

 

PR&D 3

// Accelerate all motors to 25%
celerate(4,0,25,3);

// Run all motors at constant speed
motorSpeed(4,25);
goFor(1);

// Run all motors at a higher constant speed then reverse
motorSpeed(4,20);
goFor(2);
reverse(4);

// Run all motors at a constant speed in opposite direction
motorSpeed(4,25);
goFor(2);

// Brake
brake(4);