The code associated with the above plots is the following:
celerate(4,0,25,3); // accelerate both motors to 25% power in three seconds
motorSpeed(4,25);// initialize both motors at 25% power
goFor(1); // run line from code above for one second
motorSpeed(4,20); // initialize both motors at 20% power
goFor(2); // run line from code above for two seconds
reverse(4); // reverse polarity of both motors
motorSpeed(4,25); // initialize both motors at 25% power
goFor(2); // run line from code above two seconds
brake(4); // brake all motors
What is the AEV doing in each section of the plot?
For both plots, the first plateau in power occurs under 6.67 watts. Before this plateau the AEV is accelerating up to a motor power of 25 % power. After the first plateau the power drops to approximately 4.00 watts and plateaus. This section corresponds to the motor speed being set to 25 % power and then dropping to 20 % power. Next, the large spike in the graph corresponds to the power needed to reverse the polarities of the motors. The next plateau corresponds to the code initializing the motor power to 25% for two seconds. And finally, the quick drop and flat line corresponds to the braking of the motors.