Lesson5.md

 # Lab Notebook 5
 
-**Date:** 21st of March 2016
+**Date:** 21st of March and 7th of April 2016
 
 **Group number:** Group 14
 
 **Group members participating:** Camilla M. V. Frederiksen, Ida Larsen-Ledet, Nicolai Nibe and Emil Platz
 
-**Activity duration:** OVER 9000 hours ??? (7 on the 21st of March + ?????????? on the 7th of April)
+**Activity duration:** 14 hours (7 on the 21st of March + 5,5 on the 7th of April)
 
 ## Goal
 Construction of a self-balancing robot, as specified in [lesson plan 5](http://legolab.cs.au.dk/DigitalControl.dir/NXT/Lesson5.dir/Lesson.html).
@@ -23,7 +23,10 @@ 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 ---
+### Self balancing robot with light sensor 
+---
+We started out by rebuilding the robot with respect to the building instructions in [2]. 
+
 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 then 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)