Performance Analysis

Energy vs. Distance

In this graph, the AEV is run along a track and recorded the energy/ time using the AEVDataExtraction.m tool. After, the data collected from the AEV is graphed on a time vs. energy plot. As the AEV travels along the track, the energy input is increased until it brakes, and gradually comes to a stop. After the AEV brakes, the energy used is constant because the propellers are no longer running, but the wheels require some time to stop.

Energy vs. Time

In this graph, the AEV is run along a track and recorded the energy/ distance using the AEVDataExtraction.m tool. After, the data collected from the AEV is graphed on a time vs. energy plot. The first points are zero, because the AEV had a delay when starting up. As the AEV travels along the track, the energy input is increased until it brakes, and gradually comes to a stop. After the AEV brakes, the energy used is constant because the propellers are no longer running, but the wheels require some distance to stop.

 

Code Used

This is the code used to test the AEV to get the recorded Data.

celerate(4, 0, 25, 3);
 goFor(1);
 motorSpeed(4, 20);
 goFor(2);
 reverse(4);
 motorSpeed(4, 25);
 goFor(2);
 brake(4);

Performance Tests

 

In this graph, the AEV is run up the track, stopped at the first gate, continued to the end to pick up a caboose, and reversed direction, stopped at the first gate again, and proceeded back to the starting zone. The result was recorded the energy/ distance using the AEVDataExtraction.m tool. After, the data collected from the AEV is graphed on a time vs. energy plot. However, the graph is flawed because the reflectance sensors stopped working after the first gate. This resulted in the AEVDataExtraction.m tool only reading a maximum of 43 J.

 

In this graph, the AEV is run up the track, stopped at the first gate, continued to the end to pick up a caboose, and reversed direction, stopped at the first gate again, and proceeded back to the starting zone. The result was recorded the energy/ distance using the AEVDataExtraction.m tool. After, the data collected from the AEV is graphed on a time vs. energy plot. However, the graph is flawed because the reflectance sensors stopped working after the first gate. This resulted in the AEVDataExtraction.m tool only showing only 0 (m/s) because of the break in the first gate.

Code Used

motorSpeed(4,25);
goToRelativePosition(225);
brake(4);
goFor(0.43);
//Propeller Braking
reverse(4);
motorSpeed(4,24);
goFor(2.5);
//Station 1 Stop
brake(4);
goFor(7);
//Station 1 Contine
reverse(4);
motorSpeed(4,23);
goToRelativePosition(175);
brake(4);
goFor(0.5);
//Propeller Braking
reverse(4);
motorSpeed(4,28);
goFor(2);
brake(4);
goFor(10);

//Going in Reverse Direction
motorSpeed(4,46);
goToRelativePosition(-233);
brake(4);
goFor(0.4);
//Propeller Braking
reverse(4);
motorSpeed(4,40);
goFor(2);
brake(4);
goFor(7);
//After 2nd Gate gate

reverse(4);
motorSpeed(4,37);
goToRelativePosition(-200);
brake(4);
goFor(0.5);
//Propeller Braking
reverse(4);
motorSpeed(4,36);
goFor(2);
brake(4);