Lesson5.md

@@ -227,7 +227,7 @@ We logged the readings, as well as saving the setpoint so that it could be plott
 
 *Figure 5: Plot of readings from color sensor (orange) and light sensor (brown), during tilt, along with their setpoints*
 
-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 (sadly, we did not make a video recording that includes the calibration of the setpoint and the following move to the start position and so cannot look back and confirm this visually). The different depths of the valleys could be due to the change in lighting level, as described previously.
+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 (regrettably, we did not make a video recording that includes the calibration of the setpoint and the following move to the start position and so cannot look back and confirm this visually). 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. However, as pointed out above, the two valleys have very different depths - the depth of the color sensor valley is much larger than that of the light sensor. The large valley of the color sensor skews the average, and the values computed for the two graphs mmay not be comparable. When we simply look at the graph, we see the light sensor peak at around 120 above its setpoint while the color sensor peaks at around 20-30 above its setpoint. The lowest measurement, aside from the valley, is reached around 100 below for the color sensor and a little more than 100 below for the light sensor. These observations support our initial visual observations.