Servo Braking vs Coasting vs Reverse Function Braking
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For the Advanced Research and Development Phase 2 (aR&D2), Team P decided to determine the most effective, efficient, accurate, and consistent means of braking. Creating a consistent braking system is essential to a sustainable design and a successful prototype. We identified three means to stopping the AEV and have decided to perform three tests, listed below, and compare the energy outputs as well as accuracy.
Test 1: Servo Braking
Using a small servo motor, we will rotate an arm with a rubber end that will stop the AEV via friction between it and the rail or wheel.
Test 2: Coasting
We will run the AEV for a certain distance and then cut power to all engines and allow the friction between the wheels and rail to stop it.
Test 3: Reverse Function
We will command the motors to reverse at high power when approaching the gate to slow down and stop the AEV.
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Test 1 Code:
rotateServo(45); motorSpeed(4,25); goFor(5); rotateServo(0);
Test 2 Code: Did not run this test because we know it will be the most inaccurate and inconsistent form of braking
Test 3 Code:
motorSpeed(4,25); goFor(5); reverse(4); brake(4); motorSpeed(4,25); goFor(5);
Graphical Analysis for Test 1: