AEV Energy Consumption vs Distance
Energy consumption was the highest for the first meter because the AEV was accelerating from start to 25% power. It was then run at a constant speed of 20% so energy levels dropped from 1 to 3 meters. The motors were reversed and the speed increased to 25% for all motors so energy consumption increased from 3 to 5.3 meters. Then all motors were braked so the energy consumption stopped.
AEV Energy Consumption vs Time
For the first three seconds, power steadily increased as the motors accelerated from start to 25%. It was run at a constant speed for 1 second so energy consumption was constant. The energy dropped from 4 to 6 seconds as the motor speed was reduced to 20%. Energy increased drastically as the motors were reversed and the motor speed was increased 25%.
Arduino Code for this Scenario
celerate(4,0,25,3); //accelerate all motors from start to 25% in 3 seconds
goFor(1); //runs the motors at a constant speed for 1 second
motorSpeed(4,20); //sets all motors to 20% power
goFor(2); //runs motors at a constant speed for 2 seconds
reverse(4); //reverses all motors
motorSpeed(4,25); //sets all motors to a speed of 25%
goFor(2); //runs motors at a constant speed for 2 seconds
brake(4); //brakes all motors
goFor(1); //runs the motors at a constant speed for 1 second
motorSpeed(4,20); //sets all motors to 20% power
goFor(2); //runs motors at a constant speed for 2 seconds
reverse(4); //reverses all motors
motorSpeed(4,25); //sets all motors to a speed of 25%
goFor(2); //runs motors at a constant speed for 2 seconds
brake(4); //brakes all motors