Lesson5.md

@@ -16,7 +16,7 @@ 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 will elaborate on this in the result section.
 
-We want to experiment with using a PID controller for getting the robot to stand up.
+We will experiment with using a PID controller for getting the robot to stand up.
 
 We plan (or hope) to finish the activities within 5 hours.
 
@@ -24,7 +24,7 @@ For these exercises Camilla will be taking notes, Nicolai will be programming an
 
 ## Results
 ### Self balancing robot with light sensor
-We start by running the initial program provided by [2]. This didn't give a good result. Frej just rushes in either direction and never stands still. The only reason that Frej is able to keep upright and move about is that he has tilted to the side that his light sensor is one, causing him to rest on the sensor.
+We started by running Bagnall's program [2] without modifications, in the large working space in the Zuse building. This didn't give a good result: The robot just rushed ahead, either upright or sliding around on its "back", never holding its balance and standing still. The only reason that the robot was sometimes able to keep upright was that when tilting forwards, it landed on its light sensor which held up the robot like a crutch (as seen in Video 1).
 
 [![Robot performing poorly using Bagnall's program](SOMEURL.jpg)](video IMG_2238.MOV)