Lesson5.md

@@ -252,8 +252,8 @@ Afterwards, we modified the Gyrotest to let both motors run while the program wa
 Average reading with wheels on/engines running: 596.698744 (no noticeable average drift)
 Average reading without wheels/with enginges off: 596.5979995 (no noticeable average drift)
 
-We concluded that the average drift was negligible in both cases. 
-(KOMMENTAR: Skriv med at de to average readings ikke er særligt forskellige - diff kun 0.1) 
+There seems to be no significant difference between having the engines running and having them turned off - there is only a difference of 0.1 between the average readings in the two cases. We concluded that the average drift was negligible in both cases. 
+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, this is only a marginal change and if time permitted we shoul probably run several long tests to obtain an overall average and use that. 
 
 Based on the code in [Ref or lesson plan], we tried implementing integration to calculate the angle of the gyro based on the sample interval and the gyro motion readings. 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 was 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.