Lesson5.md

@@ -43,7 +43,7 @@ We started by running Bagnall's program [2] without modifications, on the floor
 
 *Video 1: Robot racing around and resting on its light sensor.* 
 
-Going backward on its back is expected behavior, as the sensor in this situation measures a hgih raw value of reflected light and therefore assumes that the sensor is far away from the ground and tries to flip itself up by setting full speed backwards on its motors. This doesn't work as the robot doesn't have enouyght power.  
+Going backward on its back is expected behavior, as the sensor in this situation measures a high raw value of reflected light and therefore assumes that the sensor is far away from the ground and tries to flip itself up by setting full speed backwards on its motors. This doesn't work as the robot doesn't have enought power.  
 
 Going backwards on its front is however not expected behavior, as the robot should in fact try to catch its weight by driving forward as it does until the sensor hits the ground. When leaning on the floor the sensor must therefore see a high raw value which means that it doesn't see any reflected light and thinks that it is in fact leaning backwards instead of forward and thereby trying to go backwards. 
 
@@ -56,7 +56,7 @@ With the goal of obtaining a better understanding of the significance of the phy
  
 ##### Testing condition 1: A dark room without windows
 We tested the robot in the bathroom where the light could be switced off.
-At first we placed the robot in the middle of the room, started the non-modified program, calibrated it with support from our hands. This attemp made the robot fell over - and thereby not balancing - almost immediately as seen in video 2. 
+At first we placed the robot in the middle of the room, started the non-modified program, calibrated it with support from our hands. This attemp made the robot fall over - and thereby not balancing - almost immediately as seen in video 2. 
 
 [![Robot in dark room](http://img.youtube.com/vi/JAj4VaBqbhc/0.jpg)](https://www.youtube.com/watch?v=JAj4VaBqbhc)
 
@@ -69,13 +69,13 @@ After the first failed attempt we tried calibrating the robot while it was resti
 
 After this we decided to turn on the lights, to try the effect of the robot under some kind of fluorescent light (which we judged the bathroom lights were), as Hurbain also suggests under his first condition [2]. This however, did not seem to have any effect at all.
 
-We experimented with different angles of the robot when leaning against the door, one of these shown in Video 3, where our angle was too big, causing the robot to constantly lean against the door.
+We experimented with different eye-measured angles of the robot when leaning against the door, one of these shown in Video 3, where our angle was too big, causing the robot to constantly lean against the door.
 
 [![Robot performing better when calibrated against the door](http://img.youtube.com/vi/MXfxQUSM9SA/0.jpg)](https://www.youtube.com/watch?v=MXfxQUSM9SA)
 
 *Video 3: Calibrating the robot against the door, with a somewhat succesful result (the robot didn't fall over that quickly, but didn't remain standing in one spot either)*
 
-At this point we started wondering whether the wires to the engines were creating a problematic inconsistent weight distribution on the robot, so we tried refitting it, as can be seen in Figure 2 below.
+At this point we started wondering whether the wires to the engines were creating a problematic inconsistent weight distribution on the robot due to their moveable nature, so we tried refitting them, as can be seen in figure 2 below.
 
 ![Re-designed robot](http://i.imgur.com/aqmakXq.png)
 
@@ -96,6 +96,7 @@ To remedy this, we tried experimenting on a black surface that we brought into t
 As we now couldn't use the door as a means of a solid standpoint for the robot to lean against when calibrating, we now used a box found in the Zuse building instead, as seen in figure 4.
 
 ![Using a box to angle the robot for calibration](https://gitlab.au.dk/LEGO/lego-kode/raw/master/week7/img/IMG_225960.PNG)
+
 *Figure 4: Using a box to angle the robot for calibration.*
 
 A problem we discovered with this box was that in some places it was casting a shadow over the surface that we were calibrating the robot on, causing the initial calibration value to differ largely from what it would be once the box was removed. We therefore made a conscious effort to always place the box and robot in a position where the box wasn't shadowing the robot.