Lesson5.md

@@ -234,13 +234,13 @@ Further exploration might have included testing the color sensor in different co
 
 ### Self balancing robot with gyro sensor
 ---
-
+(INTRO)
 
 The offset was measured by placing the robot against a wall, and observing the value over a period of time. The reading varying between 597 and 598, with 598 occuring the most. Our sensor's offset for angular velosity is therefore 598.
 
 To test the drift, we began by starting ***GyroTest.java*** and letting it run for 10 minutes to check if the sensor developed heat which could then maybe result in a drift of the reading value. This didn't seem to be the case - in the end, the sensor readings were still shifting between 597 and 598. 
 
-Afterwards, we modified ***GyroTest*** to let both motors run while the program was running. We also added a data logger to the program to gather information for later observations. We used this to calculate the average reading and the average drift, presented in the table below.
+Afterwards, we modified ***GyroTest*** to let both motors run while the program was running. We also added a data logger to the program to gather information for later observations. We used this to calculate the average reading and the average drift, presented in table 2 below. Two cases were investigated: In the first case, the robot was un-modified. In the second case, the robot's wheels were taken off. ***HVORFOR???***
 
 |             | Average reading | Average drift | Maximal drift |
 | ----------- | --------------- | ------------- | ------------- |