The AEV is nearing the final stretch of completion for the purposes of this project. The focus is now on optimizing and finalizing various parts of the AEV. The AEV ran on the track a couple more times until a successful outcome was achieved. The AEV recorded data along this run, such as energy consumption and time. The data was then gathered from that run to gain more insight on how to improve the AEV.
Figure 1: Power vs. Time without phases.
Figure 2: Power vs. Time with phases.
| Phase | Arduino Code | Time(seconds) | Total Energy(Joules) |
| 1 | celerate(4,0,24,2) | 8.64 | 43.84 |
| 2 | celerate(4,0,30,2) | 7.80 | 41.91 |
| 3 | motorSpeed(4,16) | 4.08 | 15.02 |
| 4 | celerate(4,0,flat,3) | 5.88 | 43.28 |
| 5 | goToAbsolutePosition(s2) | 6.90 | 34.83 |
| 6 | celerate(4,0,36,3) | 12.18 | 99.11 |
| 7 | celerate(4,0,flat,2) | 9.18 | 34.14 |
| 8 | celerate(4,0,22,2) | 7.98 | 44.58 |
| 9 | celerate(4,0,flat,2) | 20.16 | 243.60 |
| 10 | motorSpeed(4,21) | 9.48 | 32.55 |
| Total Energy Used: | 632.57 |
Table 1: Time used and total energy of three phases.
In Figure 2, phase 6 seems to have the greatest power output. Phase 6 corresponds to the celerate function as shown as in Table 1, which is the energy and time used for each divided phases. The AEV had greatest power when accelerated to motor speed of 36 in three seconds.The AEV had least power output when the motor speed of all motors was set to 16. The most energy used was at phase 9, when the AEV was accelerated to the flat speed. The battery was fully charged before test trials. The input power in the code from last tests were too high since the battery was not at 100% power when it was tested in the previous lab. The speed was too high which resulted the AEV not stopping at the correct stops. After the program was changed, the AEV was tested several times. The AEV ran as expected, successfully picked up the cart and stopped at the right places. The AEV was less balanced when the speed was higher. The AEV lost the cart once when it was first tested with code from the previous lab. After the program change, the cart is relatively more stable when attached with the hook.