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AEV External Sensors Lab: Guidelines and Programming Techniques

This lab manual provides comprehensive guidelines for the troubleshooting and programming of external sensors, particularly reflectance sensors for Autonomous Electric Vehicles (AEVs). Participants will learn to correctly mount sensors, establish connections to the Arduino, and utilize commands for feedback control, enhancing real-time data acquisition for autonomous operation. Key programming commands, including `goToMark()` and `goToPosition()`, are detailed for effective sensor integration. The lab emphasizes proper procedure adherence and teamwork for successful AEV design and testing.

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AEV External Sensors Lab: Guidelines and Programming Techniques

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  1. Advanced Energy Vehicle External Sensors Reference: AEV Lab Manual External Sensors Grading Guidelines

  2. FINAL DESIGN AEV Project Objective (Problem Definition) Initial Concepts (Brainstorming) experimental Research (Programming) (System Analysis) PT 1 PT 2 PT 3 PT 4 Present AEV Design

  3. Lab Objectives • The objectives of this lab are: • Become familiar with the external sensor hardware components • Become familiar with troubleshooting techniques • Program the function calls in controlling the AEV using external sensors

  4. External Sensors • The importance of external sensors on the AEV is to provide real-time information being provided to the Arduino for autonomous vehicle operation • This is known as feedback control. • The sensor that will be the focus of today’s lab is the Reflectance Sensor

  5. Reflectance Sensors • The sensor will produce a low voltage due to the reflectance of the aluminum tape and produce a high voltage due to the dark color of the wheel.

  6. Reflectance Sensors “Marks” • This voltage change is called a “mark.” For one full wheel revolution, a sensor will have 4 voltage changes or 4 marks. Since we have two sensors, one full wheel revolution will have 8 voltage changes or 8 marks. 1 Mark 1 Mark 1 Mark 1 Mark

  7. Mounting the Sensor • Make sure to use the small #2 bolt and zip tie to securly mount the sensor on the opposite side of the wheels on the vertical support • The closer the sensor is to the wheel, the better voltage reading the sensor will usually have. • Optimal distance for readings is 3 mm as illustrated. Optimum Too far away

  8. Making the Connections • Take careful consideration where reflectance sensor is attached to the Arduino!! • READ AEV Lab Manual • For proper orientation • pin connections • ASK if uncertain! USB Connection Important Note: Make sure the connections are installed with the white wire facing the Arduino mini-USB connection.

  9. External Sensors External Sensors Lab Procedure Guidelines: • The following slides are a summary of the procedure guidelines and the basic command for the reflective sensor

  10. Arduino Programming Sensor Command Available Command • goToMark(wc); • One Argument; works specifically with reflectance sensor • wc = wheel counts • Example: • motorSpeed(4,30); **Sets all motor speeds to 30% full power • goToMark(44); **Continues the last command for 44 wheel counts. • Each wheel has 8 counts. Circumference = 3.902 inches • Therefore, (44 marks)*(3.902/8 inches) = 21.46 inches traveled.

  11. Arduino Programming Sensor Command Available Command • goToPosition(wc); • One Argument; works specifically with reflectance sensor • wc = wheel counts • Example: • motorSpeed(4,30);**Sets all motor speeds to 30% full power • goToPosition(500); **Continues the last command until the AEV reaches 500 total wheel counts • Each wheel has 8 counts. Circumference = 3.902 inches • Therefore, (500 marks)*(3.902/8 inches) = 243.75 inches traveled.

  12. Arduino Programming Basics Lab Lab Activity • Follow Lab Procedure Guidelines • Team: • Install reflectance wheel count sensor to the sample AEV • Follow AEV Lab Manual Testing the Reflectance Sensor • Get instructional team verification • Team: • Write Program • Verify program and sensor on Desktop Stand • Get approval to operate on Classroom Stand and Test • Follow PROPER TESTING PROCEDURE • Get instructional team verification • Make sure to include in your TEAM summary report

  13. Arduino Programming Basics Lab Lab Activity cont. • Follow Lab Grading Guidelines • Team: • Reprogram the requested commands • Verify program and sensor on Desktop Stand • Get approval to operate on Classroom Stand and Test • Follow PROPER TESTING PROCEDURE • Get instructional team verification • Make sure to include in your TEAM summary report

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