Performance Test 1

Backward Looking Summary

 

 

The goal of this lab was to test 2 separate codes and analyze them as a team taking into consideration performance aspects to include but limited to: consistency of runs, flexibility to different tracks, energy efficiency, responsiveness to changes in environment, etc. After establishing a skeleton code that can propel the teams AEV from start to finish of the designated track, the team addressed creating a foundation code for the most energy efficient run. Two codes were made that compared the efficiency of the code “celerate” vs. “motorspeed”.  They both ran at the same motor speed for the same amount of time. The straight away at the front of the class was used because only the first portion of the code was used; the portion of the overall code that propels the AEV to the gate before it picks up the cargo. Because the AEV uses a push pull configuration the motor at the front of the AEV runs in reverse before the cargo is picked up and then both motors switch direction for the return trip. Below are the two codes that were compared.

 

 

“motorspeed”

  

“celerate”
 

 

reverse(1);

motorSpeed(1,50);

motorSpeed(2,35);

goFor(2);

brake(4);

 

  

 

Reverse(1);

celerate(4,0,40,1.5);

goFor(1.5)

brake(4);

 

Below are the graphs that plot the Power usage vs. Distance traveled for the “celerate” vs. “motorspeed” comparison. From these it was determined that “motorspeed” produced the greater distance traveled per Joule of energy used.

We determined based on the graphs that “motorspeed” was the more efficient of the two codes to use because the distance covered per power used was greater for “motorspeed” than for “celerate” (answer to question 1 Lab 10).

 

For the next lab the teams goal is to complete a full run with the “motorspeed” code and analyze the energy consumption for the entire run. From this we will determine if it is better to use a constant speed through each section of course, or instead use a large burst of thrust and coast through each section of course. The goal is to find the most energy efficient code to perform the AEV’s task (answer to Energy question Lab 10).

 

This is the code that will be used to propel the AEV to the gate for the first leg of the course.

reverse(1);

motorSpeed(1,50);

motorSpeed(2,35);

goFor(2);

brake(4);

goToAbsolutePosition(369);

//stop AEV at first gate with servo

rotateServo(105);

//wait 7 seconds

goFor(7);

//release servo

rotateServo(0);

 

This code is the foundation that the entire code will built around. By only making changes to this code the AEV will be able to complete the course. By changing the time, speed, or time, for example during each quarter of the course and putting them all together will allow the AEV to complete the course(answer 3 Lab 10).

 

Forward Looking Summary

 

 

The task ahead for the team is to optimize the AEV’s energy usage. By this point the team will know how far each section of track is that the AEV needs to travel. The task now will be finding the best code that moves the AEV through each section. The team should have this close to completion by April 5. By April 5 the team should be approximately 50% done programing a code to be used in the final run.

 

 

 

 

 

Appendices

 

 

On march 28 the team did not meet due to unexpected circumstances. Only Michael was able to make it to the lab. He continued on the teams plan to optimize the performance of the AEV. Below is a sample of the AEV’s performance. It is an analysis of the first quarter of the track.  During the lab on March 28th the team will further develop the code and optimize performance.

 

 

reverse(1);

motorSpeed(1,50);

motorSpeed(2,35);

goFor(2);

brake(4);

goToAbsolutePosition(369);

//stop AEV at first gate with servo

rotateServo(105);

//wait 7 seconds

goFor(7);

//release servo

rotateServo(0);