Lesson5.md

@@ -16,12 +16,26 @@ As suggested in the lesson plan, we plan to use Philippe Hurbain's NXTway [1] as
 
 In [1], Hurbain provides some advice on optimal conditions for the NXTway, which we will take into account when implementing, evaluating and revising our program.
 
+We want to experiment with using a PID controller for getting the robot to stand up.
+
 We plan (or hope) to finish the activities within 5 hours.
 
 For these exercises Camilla will be taking notes, Nicolai will be programming and Emil and Ida will be in charge of the experiments.
 
 ## Results
 ### Self balancing robot with light sensor
+We start by running the initial program given by [2]. This didn't give a good result. Frej just rushes in either direction and doesn't try to stand still. 
+
+Next we try to take Hurbains [1] conditions into account. 
+
+#### A dark room
+We started by testing the robot and it fell!
+
+#### start balancing - not effect of push
+We tried calibrating it up against the door (because this was the most even thing). We used a little angle (see video) because the robot has too much front weight. This worked more or less, but the robot clinged to the door (we made a door opener)
+We turned on the light - see video
+We tried a stiber angle which worked much better - see video
+
 
 ### Choice of parameters on the fly