Lesson7.md

@@ -99,24 +99,24 @@ The reason for lowering power and interval time: less resistance on motor so les
 
 Switched off all other behaviors to be able to test it.
 
-70 went crazy (see video TODO)  
+70 went crazy (as seen in video 6)  
 Change length of interval from 500 to 100.  
 Try: 30 - hyletone, no movement  
 Try: 45 - still nothing  
 Try: 55 - better, but not responsive enough  
 Try: 60 - seems to work ok, but keeps turning left (as it keeps going even when it's not longer registering light. We tried to stop the motors after making the sensor point forward again)
 
-Stopping the motors in the end helped. But it seemed that the sensor wasn't turning enough when checking, so that the difference between the left and right light values was not large enough, whereby the motors were simply set to move forward, rather than following the light properly. We tried increasing the interval to 300. This didn't seem to make much of a difference, so we increased it up to 500 (the intial value). This seemed to work better (TODO: video), but the robot was turning away from the light rather than towards it. This was due to an error in our code - we simply flipped left and right turns in the code.
+Stopping the motors in the end helped. But it seemed that the sensor wasn't turning enough when checking, so that the difference between the left and right light values was not large enough, whereby the motors were simply set to move forward, rather than following the light properly. We tried increasing the interval to 300. This didn't seem to make much of a difference, so we increased it up to 500 (the intial value). This seemed to work better as seen in video 7, but the robot was turning away from the light rather than towards it. This was due to an error in our code - we simply flipped left and right turns in the code.
 
 [![Motorized Follower](http://img.youtube.com/vi/63BJjsBgtrg/0.jpg)](https://www.youtube.com/watch?v=63BJjsBgtrg)  
 *Video 7: Motorized LightSensor working well with the proper variables.*
 
-We tested in the dark to obtain a bigger light difference. In here, the robot's response was easy to observe  (TODO: video). Note, though, that the big difference in measured light values caused it to turn A LOT - a little too much.
+We tested in the dark to obtain a bigger light difference. In here, the robot's response was easy to observe  as seen in video 8. Note, though, that the big difference in measured light values caused it to turn A LOT - a little too much.
 
 [![Follower in dark room](http://img.youtube.com/vi/bbRn_WVlDwk/0.jpg)](https://www.youtube.com/watch?v=bbRn_WVlDwk)  
 *Video 8: Testing the Follower behavior in a darker ambient lighting environment.*
 
-Switching on everything else again: all behaviors were observable - we saw avoid overrule follow, and we saw the robot immediately respond to bumping into something (escaping overruling the rest). TODO: video. In general, we don't observe Follow a lot, but as we reasoned about earlier, this is because the ambient light in the room induces too little a difference to the flashligt, whereby the motorpower for the turn is not very large.
+Switching on everything else again: all behaviors were observable - we saw avoid overrule follow, and we saw the robot immediately respond to bumping into something (escaping overruling the rest). This is shown in video 9. In general, we don't observe Follow a lot, but as we reasoned about earlier, this is because the ambient light in the room induces too little a difference to the flashlight, whereby the motorpower for the turn is not very large.
 
 [![All behaviors active](http://img.youtube.com/vi/YZ3ukgE0WIk/0.jpg)](https://www.youtube.com/watch?v=YZ3ukgE0WIk)  
 *Video 9: Robot driving and reacting to all 4 behaviors*