Lesson5.md

@@ -14,7 +14,7 @@ Construction of a self-balancing robot, as specified in [lesson plan 5](http://l
 ## Plan
 As suggested in the lesson plan, we plan to use Philippe Hurbain's NXTway [1] as inspiration for construction and programming, and Brian Bagnall's code [2] for his balancing robot as inspiration for programming.
 
-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.
+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.
 
@@ -30,7 +30,11 @@ We start by running the initial program provided by [2]. This didn't give a good
 
 *Video 1: Robot racing around and resting on its light sensor.* 
 
-Next we try to take Hurbains [1] conditions into account. 
+Next we try to take Hurbain's reccomendations for environmental conditions [1] into account. According to Hurbain, the NXTway requires the following conditions to be satisfied:
+
+- The lighting must not interfere with light sensor. Hurbain suggests trying out the robot in a dark room or a room lit only by fluorescent light.
+- It works best on a clear but non uniform surface. According to him, certain patterns give the robot something to "zero" on.
+- The robot must be perfectly balanced when the run button is pressed, as the light level measured at that time determines the equilibrium position.
  
 #### A dark room
 We started by testing the robot and it fell!