Group_6_Lab_Session_5.markdown

@@ -37,7 +37,23 @@ We noticed that if the robot titled forward all the way, it had no chance of rec
 #### White Cardboard Surface
 Challenging the advice Phillippe Hurbain we tried to change the surface on which we are sensing (see image 6 in the above gallery). As expected, the performance was even worse and the robot showed very aggressive corrections, which may indicate that the light sensor may have zeroed on something. This behavior can be seen in this video: [Self-balancing robot with light sensor - Control](http://1drv.ms/1EFIGRZ)
 
-##### Physical Enhancements - Balance Bar
+#### Experimenting with PID Constant Values
+The native constants of Brian Bagnall's PID, didn't work that well in our setting. Through trial-and-error we've narrowed in on the following constants, which gave us the best performance:
+
+Kp = 40
+Ki = 20
+Kd = 40
+Scale = 18
+
+
+
+
+#### Physical Enhancements - Balance Bar
+
+Native constants.
+
+#### Physical Enhancements + 
+
 ## Choice of parameters on-the-fly
 ### Setup & Approach