Lesson5.md

@@ -96,7 +96,7 @@ After all of these various experiments with change of different factors, we came
 
 
 ### Algorithm-discussion
-Based on Hurbain [2], we know that the PID constants used in Sejway.java program were designed for Hurbain's specific light sensor and environment setup. We therefore decided to start testing which specific variables would be best for our setup.
+Based on Hurbain [2], we know that the PID constants used in ***Sejway.java*** were designed for Hurbain's specific light sensor and environment setup. We therefore decided to start testing which specific variables would be best for our setup.
 
 Note: Camilla & Nicolai: Vi valgte at udlade at vi ændrede ints til floats, fordi vi alligevel caster dem til ints de fleste steder og har svært ved at finde på argumentation for hvorfor det skulle gøres udover "ole said so"
 
@@ -230,7 +230,7 @@ Ved måling ved start-hvile-position: skriv at vi bruger teoretisk setpoint (i.e
 
 The two graphs have about the same shape, with two peaks separated by a valley. The first ~800 ms is the calibration of the setpoint. Then we see the reading values rise as the robot is tilted to its starting position, causing the sensor to get closer and closer to the surface below. After the second peak, we see the reading decrease as the robot is tilted backwards. We are not sure as to the reason for the occurence of the valleys - a guess could be that the robot is lifted slightly from the table again because Camilla, who tilting the robot, was wary of letting the sensor hit the surface too hard. The different depths of the valleys could be due to the change in lighting level, as described previously.
 
-We see that the color sensor actually has a larger maximum deviation (*max. dev.*) from the setpoint than the light sensor. The color sensor has a larger average deviation (*avg. dev.*) as well. This goes against our immediate visual observations. On the other hand, the slope of the graph for the color sensor is less steep than that of the light sensor, which might explain our observations. The different slopes, however, could also be due to different speeds of the movement when tilting the robot - it should be noted, though, that this could also have affected our results in a way that diminishes the actual difference which might support our observations. 
+We see that the color sensor actually has a larger maximum deviation (***max. dev.***) from the setpoint than the light sensor. The color sensor has a larger average deviation (***avg. dev.***) as well. This goes against our immediate visual observations. On the other hand, the slope of the graph for the color sensor is less steep than that of the light sensor, which might explain our observations. The different slopes, however, could also be due to different speeds of the movement when tilting the robot - it should be noted, though, that this could also have affected our results in a way that diminishes the actual difference which might support our observations. 
 
 All in all, there were several external factors affecting our measurements and it is hard to take them properly into account.