Lesson5.md

@@ -254,9 +254,7 @@ It is interesting that the average reading this time (in both cases) was closer
 
 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.
 
-No we would have attempted to fix the inaccurate angle calculation and then use this as a means of creating a balancing robot using the gyro, but at this point we simply spent too much time on these exercises and have to cut our gyro implementation short and leave it at this.
-
-NOTE: To make the robot balance it would be a good thing to combine the different sensors
+We would have attempted to amend the inaccurate angle calculation and then use this as a means of creating a balancing robot using the gyro sensor, but at this point we had simply spent too much time on the exercises and were forced to cut our gyro implementation short and leave it at this. Had we had the time to continue, our ideas regarding the implementation of a balancing robot included combining the different sensors to have a form of "second opinion" to take into account when responding to the gyro sensor's readings.
 
 ## Conclusion
 (SKRIV OM MERE UD FRA LIGHT OG GYRO)