Final Challenge-8

For this part of the challenge, we created a "nudge" procedure that caused the car to move a very small distance for a brief moment. Because with proportional control, the car can overshoot or undershoot its target, so we used nudging to make the movement of the car more accurate. We used this program to make the MotorCar repeatedly move up or back up towards the target. This procedure would help us make the MotorCar get closer to the target of 10 feet up the ramp. This is a picture of our nudge program:

This is a picture of our nudge program: Our nudge program consists of backing up and moving forward at a lower power. If the count was higher than a certain count then the car would back up and if the count was lower than a certain count then the car would move up. We then added a last part that would make the car coast once the car was at a certain range of the count. After completing the "nudge" procedure, we combined it with our " straight proportional control" procedure.

Our "straight proportional control" was a set to stop the car at a certain count. Our count was 3050 and it made the car move exactly ten feet on the concrete floor. This is a picture of this procedure:

We then combined these programs with an "init" block that would start the count and "forward" blocks that would start moving the MotorCar. This is a picture of our final program:
So we tested it out on the ramp and the car did not reach the 10 feet mark but it came up very close. This is a picture that shows how close the car came to the target:
One of the reasons we think that the car make the 10 feet mark was that it slipped on its way up the ramp. The skidding would create problems with the counts, making it miss the 10 feet mark. So we decided to lower the incline which would reduce the slippage. This is a picture of how far we moved the ramp down:
So we retested our procedure and we found that the car moved a lot closet to the 10 feet mark. This means that the more the ramp was level with the ground, the more the car would reach the target.
We then tested our procedure in different situations. We had the car go downhill and like previous tests, it went past the 10 feet mark. In this situation, the car slipped, making the car overshoot the target. This is how far the car passed the target:
We then tested it out on the carpet. And unlike our previous tests, the car made the 10 feet mark exactly. Here is a picture of the car after the procedure was done:
This is a video of the car moving on the concrete floor and nudging towards the 10 feet mark: