Group_6_Lab_Session_5.markdown

@@ -140,9 +140,17 @@ To sum up, we can conclude that the color sensor was no significant improvement
 ## Self-balancing robots with gyro sensor
 Based on RobotSquare's [8] and HiTechnic's documentation [9], we will try to implement our own balancing robot using a Gyro Sensor.
 
+### Setup & Approach
 
+As an initial study, we will use the test class [GyroTest.java](http://legolab.cs.au.dk/DigitalControl.dir/NXT/Lesson5.dir/Lesson5Programs/GyroTest.java) to get familiar with the Gyro Sensor's behavior.
 
-### Setup & Approach
+Afterwards, we will try to apply our findings and use the Gyro Sensor's values as input to the PID controller.
+
+We use [these building instructions](http://robotsquare.com/2012/02/12/tutorial-building-segway/) to build our NXT Segway [10]. The build can be seen in the following pictures. 
+
+![Figure 13](http://i.imgur.com/SHGm7lam.jpg)
+![Figure 14](http://i.imgur.com/DjmE0r4m.jpg)
+![Figure 15](http://i.imgur.com/JVMYXDEm.jpg)
 
 ## Conclusion
 
@@ -157,6 +165,7 @@ Based on RobotSquare's [8] and HiTechnic's documentation [9], we will try to imp
 * [7], "NXT Segway with Rider", Building Instructions, [http://www.nxtprograms.com/NXT2/segway/steps.html](http://www.nxtprograms.com/NXT2/segway/steps.html)
 * [8], Robotic Ideas & Instructions, [AnyWay - Build a SegWay in under an hour!](http://laurensvalk.com/nxt-2_0-only/anyway)
 * [9], HITechnic, [HTWay - A Segway type robot](http://www.hitechnic.com/blog/gyro-sensor/htway/)
+* [10], NXT Segway Building Instructions, [http://robotsquare.com/2012/02/12/tutorial-building-segway/]()http://robotsquare.com/2012/02/12/tutorial-building-segway/