@@ -242,7 +242,9 @@ Afterwards, we modified ***GyroTest*** to let both motors run while the program
There seems to be no significant difference between the robot when whearing weels and when not - there is only a difference of 0.1 between the average readings in the two cases. We concluded that the difference is negligible.
It is interesting that the average reading this time (in both cases) was closer to 597 than to 598, as opposed to what we concluded from the preceding run. However, we were not necessarily wrong in our observation as 598 could simply result from that specific testing situation being an extreme with respect to the average.
(https://gitlab.au.dk/LEGO/lego-kode/raw/master/week7/img/mhjul.png)
*Figure 6: Plot of readings from the gyro sensor, with wheels (purple) and without wheels (turquoise)*
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.
