In this lab we analyzed the AEV’s energy output versus time and distance at various speeds and commands. Below is the code used to configure the adjoining graphs.
Objective:
1.Accelerate all motors from start to 25% in 3 seconds.
2.Run all motors at a constant speed (25% power) for 1 second.
3.Run all motors at 20% power for 2 seconds.
4.Reverse all motors.
5.Run all motors at a constant speed (25% power) for 2 second.
6.Brake all motors.
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);
Energy vs Time
This graph shows the relation of time to power output calculated via the Arduino. From 0-3 seconds, the arduino accelerates from rest to 25 percent motor power. Then, it continues at 25 percent motor power for another second. The motors are then cut to 20 percent power for 2 seconds, as seen by the horizontal line in the middle of the graph. The motors are then reversd, creating the spike in power supplied around 6 seconds in. Motors then return to 25 percent power for 2 seconds where then the power is cut of completely, as evident by the vertical drop at 8 seconds. It is important to note the AEV continued forward for another few seconds after the power was cut to the motors.
Energy vs Distance
This graph, similar to the previous one, shows and intense spike around a meter where the engines were reversed. This graph parallels the findings in the above graph which shows that the battery provides constant power output at constant speeds and continues after power is cut to the motors.