Lesson5.md

@@ -222,11 +222,11 @@ Ved måling ved start-hvile-position: skriv at vi bruger teoretisk setpoint (i.e
 
 *Figure 4: finding the setpoint value (first image), start position (second image), and end position (third image)*
 
-...
+We logged the readings, initially calibrating a setpoint and saving it so that it could be plotted along with the readings.
 
 ![Plot of readings from color sensor and light sensor](https://gitlab.au.dk/LEGO/lego-kode/raw/master/week7/img/435logColWithSetpoint_513logLightWithSetpoint.png)
 
-*Figure 5: Plot of readings from color sensor (orange) and light sensor (brown) along with their setpoints*
+*Figure 5: Plot of readings from color sensor (orange) and light sensor (brown), during tilt, along with their setpoints*
 
 The two graphs have about the same shape, with two peaks separated by a valley. The first ~800 ms is the calibration of the setpoint. Then we see the reading values rise as the robot is tilted to its starting position, causing the sensor to get closer and closer to the surface below. After the second peak, we see the reading decrease as the robot is tilted backwards. We are not sure as to the reason for the occurence of the valleys - a guess could be that the robot is lifted slightly from the table again because Camilla, who tilting the robot, was wary of letting the sensor hit the surface too hard. The different depths of the valleys could be due to the change in lighting level, as described previously.