Final Challenge-6

For this part of the challenge, Esther and I wrote a procedure that used bang-bang control to make our car go exactly 10 feet. We also had to stop the motors only by coasting, not by braking. In order to achieve this, we combined our "go ten feet" and "bang bang control" programs into one. We used time to tell when the motor needed to coast. The time we used for our program was lower than the one we used for the "go ten feet" procedure, because we had to take into the account the extra time it took for the motor to stop, since it was coasting.

This is a picture of our program:

We then tested out our procedure on different surfaces. We first tried it on the concrete floor and it worked very well. The car fairly straight and it stopped exactly at the 10feet mark.

Here is a video of this:

We then tested it with the car going up the ramp. The car beared slightly left but it did not fall off. It was short of the 10 feet mark by around 8 inches. Here is a video of this:

We then tested it with the car going down the ramp. The car almost fell off as it beared right, but managed to straighten out very nicely. The car passed the 10 feet mark by almost a foot. Here is a video of this:

Our final surface was the carpet. We measured out ten feet on the carpet. This was the least successful trial because the car beared left very noticeably and it missed the 10 feet mark by 3 inches. Here is a video of this: