Codes Run to Test How Long the AEV Takes to Come to a Complete Stop
Run 1
celerate(4,0,20,4); –accelerates all motors from 0% power to 20% power in 4 seconds
motorSpeed(4,20); –sets motor speed at 20% power
goFor(4); –keeps all motors running for 4 seconds
brake(4); –brakes all motors
Run 2
celerate(4,0,20,4); –accelerates all motors from 0% power to 20% power in 4 seconds
motorSpeed(4,20); –sets motor speed at 20% power
goFor(4); –keeps all motors running for 4 seconds
reverse(4); –reverses the direction of all motors
Run 3
celerate(4,0,20,4); –accelerates all motors from 0% power to 20% power in 4 seconds
motorSpeed(4,20); –sets motor speed at 20% power
goFor(4); –keeps all motors running for 4 seconds
reverse(4); –reverses the direction of all motors
brake(4); –brakes all motors
Run 4
celerate(4,0,20,4); –accelerates all motors from 0% power to 20% power in 4 seconds
motorSpeed(4,20); –sets motor speed at 20% power
goFor(4); –keeps all motors running for 4 seconds
brake(4); –brakes all motors
goFor(3); –keeps all motors running for 3 seconds
celerate(4,0,20,4); –accelerates all motors from 0% power to 20% power in 4 seconds
motorSpeed(4,20); –sets motor speed at 20% power
Run 5
celerate(4,0,20,4); –accelerates all motors from 0% power to 20% power in 4 seconds
motorSpeed(4,20); –sets motor speed at 20% power
goFor(10); –keeps all motors running for 10 seconds
brake(4); –brakes all motors
goFor(3); –keeps all motors running for 3 seconds
celerate(4,0,20,4); –accelerates all motors from 0% power to 20% power in 4 seconds
motorSpeed(4,20); –sets motor speed at 20% power
goFor(5); –keeps all motors running for 5 seconds
Summary of Findings
The average control (default braking function) brake time was 0.96 seconds. However, due to problems with the data extraction tool, data could not be collected for the servo brake time. Whenever data was extracted from the servo brake runs, the data extraction tool returned empty spreadsheets. Hence, there was no data to compare the default braking times to.
However, based on the differences in programming for Performance Test 1 and Performance Test 2, it is determined that using a physical brake for our AEV reduced error in stopping at the gate, thus increasing safety and increasing time efficiency.