Lesson5.md

@@ -245,7 +245,8 @@ It is interesting that the average reading this time (in both cases) was closer
 ![Plot of offset readings from gyro sensor WITH wheels](https://gitlab.au.dk/LEGO/lego-kode/raw/master/week7/img/mhjul.png)
 ![Plot of offset readings from gyro sensor WITHOUT wheels](https://gitlab.au.dk/LEGO/lego-kode/raw/master/week7/img/uhjul.png)
 
-*Figure 7: Plot of readings from the gyro sensor, with wheels (purple) and without wheels (turquoise)*
+*Figure 7: Plot of readings from the gyro sensor, with wheels (purple) and without wheels (turquoise) - dev. is short for deviation*
+
 TODO: Ida, skriv om lowest og highest + indsæt plot
 
 Based on  code presented in [the lesson plan](http://legolab.cs.au.dk/DigitalControl.dir/NXT/Lesson5.dir/Lesson.html), we tried implementing integration to calculate the angle of the gyro based on the sample interval and the motion readings of the gyro. The result was, however, extremely inaccurate, and would for some reason slowly slide in one direction, even when the gyro was motionless. We assumed this to be a result of the constant small speed readings made by the gyro even when still, but these should work in both directions as the offset remains the same despite fluctuations to either side, so the drifting angle is a mystery to us.