Data Tables/Calculations

Date

Changes/Equation/Experminet

Expected/Reason

Outcome/Result

1/27/2016

Time

3:50:00
PM Calculations

Type

Equation: (4)/(200)

To find the distance wheels move after one step of the motor.

0.06283185307 in/step

1/27/2016

4:05:00
PM Calculations

Equation: 1/((4)/(200))

This measures steps per inches, versus the previous equation(which was inches per step)

15.9154943096 step/in

1/27/2016

4:11:00
PM Code

Experiment:One Complete rotation for the Left Wheel

One complete rotation on the Left Wheel

Expected wheel did not move.

1/27/2016

4:15:00
PM Code

Change: Removed required information for RIght Wheel

Left Wheel moved: Moved less than 360 degrees

1/27/2016

4:25:00
PM Code

Change: Increase Steps per Inch

Left Wheel moved: Moved less than 360 degrees

1/27/2016

4:28:00
PM Code

Change; Increase Maximum Speed

No wheel movment

1/27/2016

4:30:00
PM Code

Change: Lowered speed, Raised acceleration

Left Wheel moved: Moved less than 360 degrees

1/27/2016

4:41:00
PM Code

Change: Raised Theoretical amount of steps

Left Wheel moved: Moved more than 360 degrees

1/27/2016

5:04:00
PM Code

Change: Lower Theoreical amount of steps

Left Wheel moved: Inconsistent movement, overall 360, individual varies.

1/27/2016

5:19:00
PM Code

Change: Removed WheelsOff

Left Wheel moved: Still inconsistent

1/27/2016

5:21:00
PM Code

Change Lower acceleration

Left Wheel moved: Less Consistent

1/27/2016

5:55:00
PM Code

Change: Changed acceleration 9999

Left Wheel moved: Reduced Stutter, Consistent

1/27/2016

5:55:00
PM Code

Experiment:One Complete rotation for the Left Wheel

Finished

1/27/2016

5:59:00
PM Electrical

Change: Switched Motor Pins

Reduce Stutter due to motors

Reduced stutter, Runs smoother, Consistent

1/27/2016

6:15:00
PM Mechanical

Expermiment: Go Straight

Move Straight

Did not move, Too much torque

1/27/2016

6:20:00
PM Mechanical

Change: Acceleration = 100

1/27/2016

6:21:00
PM Mechanical

Change: acceleration = 200

1/28/2016

8:38:00
PM Mechanical

Experiment: Center Function

1/28/2016

8:39:00
PM Code

Change: Acceleration = 700

Moved, Reads both Walls, moves closer to the walls, runs into them

1/28/2016

8:41:00
PM Code

Change: Acceleration = 200

Moved, No change

1/28/2016

8:53:00
PM Code

Change: Acceleration = 500

Moved, No change

1/28/2016

9:05:00
PM Code

Change: Switched directions of the motorDIR

Moved, No change

1/28/2016

9:07:00
PM Mechanical

Change: Swapped motors

Moved, No change

1/28/2016

9:15:00
PM Code

Change: Accelration = 600

Moved, No change

1/28/2016

9:17:00
PM Code

Change: Accelration = 999

9:23:00
PM Code

Change: Max Speed = 50, 25

1/28/2016 6:00 - 7:00 Code

12/30/201 7:30-8:25

Moved, slightly veered to the left

Moved, slgihtly veered to the left more than before
Move foward in the middle

Moved, Reads both walls, does not move in the middle well

While utilizing the Bluetooth command line we tested the

operation of the different step sizes the stepper motors
are capable of. From full step, to half step, to quarter step,
to eighth step. Each of these step sizes presents a new
ratio of torque to speed

With the new bluetooth command, we are able to

progress in the manual practice runs. The biggest
problem we ran into; however, was that the balls do not
havethe torque to grab the tennis ball. Our mentor
recommended that we use nails to have force at certain
Code/Mechanic points to hold the ball. After a few trials and tests, we
al
personally found it to work.

12/30/201

7:58:00 P Mechanical

12/30/201

8:01:00 P Mechanical

Expermiment: Move Forward to ball and pick up(manual)

Success
Success

12/30/201

8:04:00 P Mechanical

Fail

12/30/201

8:07:00 P Mechanical

Success

12/30/201

8:10:00 P Mechanical

Success

12/30/201

8:17:00 P Mechanical

2/4/2016

4:49:00 P Mechanical

2/4/2016

Observation/Te
4:50:00 P sting
Time: 60 Seconds Course: 1.5 Payload: 40 Turn: 40

Score; 130 points - No changes made

Needs to drop off paylod; Acceleration: 600 Speed:1000

2/4/2016

Obsercation/Te
5:04:00 P sting
TIme: 57 Seconds Course: 1.5 Payload: 40 Turn: 40

Score; 131.25 points - No changes made

Needs to drop off payload; Acceleration 700 Speed:1000

2/4/2016

Observation/Te
5:19:00 P sting
Time: 101 Seconds Course: 1.5 Payload: 40 Turn:40

Score; 113 points - After all the repetative testing we finally came to the conclusion that to more relia Needs to drop off payload; Acceleration 600 Speed: 1200

Success
Testing the veichle in the course.

Data Tables/Calculations

2/4/2016

Observation/Te
7:16:00 P sting
Time: 53 Seconds Course 1.5 Payload 40 Turn: 40

Score;163 - No changes made

Needs to more accuratly drop off payload, it dropped on the wall of the box box and didn't roll in; Acceleration 700 Speed: 1200

2/4/2016

Observation/Te
7:20:00 P sting
Time: 1 Minute Course: 1.5 Payload: 70 Turn: 40

Score;160 - No changes made

Dropped Ball! Acceleration 700 Speed: 1200, finished crooked to the final drop off box

2/4/2016

Observation/Te
7:28:00 P sting
Time: 55 Seconds Couse: 1.5 Payload: 70 Turn: 40

Score;162 - No changes made

Dropped Ball! Acceleration 700 Speed: 1200, finished crooked to the final drop off box

2/4/2016

Observation/Te
7:35:00 P sting
Time:53 Seconds Course: 1.5 Payload:70 Turn:40

Score;163 - No changes made

Dropped Ball! Acceleration 700 Speed: 1200, finished crooked to the final drop off box

2/4/2016

7:41:00 P Code

TIme: 57 Seconds Course: 1.5 Payload: 40 Turn: 40

Score;131.25 - No changes made

Needs to more accuratly drop ball centered with the drop off box. Acceleration 700
Speed 1200

2/4/2016

7:49:00 P Code

Time: 53 Seconds Course 1.5 Payload 40 Turn: 40

Score;133 - We altered the behavior of the final turn to push in the ball

The "turn" resulted in a bakcwards net motion and pulled the ball out instead of push
it in. Acceleration 700 Speed: 1200

2/4/2016

Observation/Te
7:55:00 P sting
Time: 52 Seconds Course 1.5 Payload 70 Turn: 40

Score;163 -No changes made

The new turn behavior pushed it in perfectly! Acceleraction 700 Speed:1200

2/4/2016

Observation/Te
8:01:00 P sting
Time: 53 Seconds Course 1.5 Payload 70 Turn: 40

Score;163 - No changes made

Turn pushed the bal lin agian. Acceleration 700 Speed 1200

2/4/2016

Obsercation/Te
8:04:00 P sting
Time: 55 Seconds Course 1.5 Payload 70 Turn: 40

Score; 162 -No changes made

Over all very clean run. Acceleration 700 Speed 1200

Score:0 -No changes made

The variations in the walls of our mock course may have confused the sensors and
we failed to pass a couple courners.

2/4/2016 8:05-8:10

Observation/Te
sting
We experience three course fails in a row.

2/4/2016

Observation/Te
8:12:00 A sting
Time: 54 Seconds Course 1.5 Payload 70 Turn: 40

Score163: -No changes made

2/4/2016

Observation/Te
8:19:00 P sting
Time: 56 Seconds Course 1.5 Payload 70 Turn:40

Score:162 -No changes made

2/4/2016

Observation/Te
9:54:00 P sting
Time: 59 Second Course 1.5 Payload: 40 Turn:40

Score 130 - No Changes made