Group_6_Lab_Session_5.markdown

@@ -25,7 +25,7 @@ To make it balance, we adopted Brian Bagnall's control system, [Sejway.java](htt
 
 ### Findings
 
-##### Control
+#### Control
 For our initial control experiment we simply used Phillippe Hurbain's robot [1] with Brian Bagnall's control system [2], without any alterations.
 
 We were able to make it balance for a few seconds 1-4, depending on the initial calibration, which was the biggest challenge. It was especially challenging, because the balance point of the robot is very hard to find, because it is top heavy. 
@@ -34,7 +34,7 @@ The performance can be seen in this video: [Self-balancing robot with light sens
 
 We noticed that if the robot titled forward all the way, it had no chance of recovering. The same was the case if it tilted too far backwards. In addition, the light settings in the room (even in this small area) may not be uniform. Thus, what may be equillibrium at one point, may not be in another. However, we weren't able to reduce the light pollution in the room any further.
 
-##### White Cardboard Surface
+#### 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