Motor Testing

Code:

celerate(4,0,25,3);

motorSpeed(4,25);

goFor(1);

motorSpeed(4,20);

goFor(2);

reverse(4);

motorSpeed(4,25);

goFor(2);

brake(4);

Graph 1:

Graph one starts with the AEV accelerating forward as the power builds to 5.78 watts and then the motor speed holds for one second. Next, the AEV is directed to drop to 20 speed causing the power needed to also drop to 4.1 watts. After, the command to reverse direction to 25 speed causes the large spike in the power required as it needs to slow the motor in the forward direction and increase the speed in the reverse direction. Once the direction has reversed, the motor continued for two seconds in the reverse direction before cutting power to 0 and braking.

 

Graph 2:

Graph two shows that the AEV moved minimally when accelerating forward and during speed 25 and 20 forward the AEV moves very little. The power spike to 10.5 is caused by the direction of the motor being reversed. The next section shows that the motor required more power to go reverse, but it also traveled farther than when going forward. Cutting power and braking resulted in the angled section the AEV was still moving, but minimally as its motors and speed dropped to 0.