aR&D 2

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: