Lab3.markdown

@@ -265,7 +265,7 @@
 > The primary feature of the class was to constantly compare the decibel measurements of the two sound sensors with a
 > set decibel threshold. If the noise level on one of sound sensors was above the given threshold, and larger than
 > that of the opposite sound sensor, the robot would turn in the direction of the loudest noise. This was simply done
-> with three part if, else if & else loop [see fig. 11]. This of course meant that the robot only could drive to the
+> with a nested if-else loop [see fig. 12]. This of course meant that the robot only could drive to the
 > right, left and straight ahead. If no sound was detected above the sound threshold, the robot would simply drive
 > straight ahead at a reasonable pace.
 >
@@ -298,10 +298,20 @@
 >        	}
 >        }
 > ```
+> ##### Fig. 12: The inner loop of the NoiseFinder program.
 >
 > #### Results
 >
+> After running the NoiseFinder program we found that it was difficult to drive towards a sound if the source was
+> placed too far away from the robot. We think this is due to the background noise being the same level as the source
+> sound being played. When we place the source sound closer to the robot it was able to detect the direction much
+> better and change direction accordingly. This is clearly visible in (see fig. 13). In our NoiseFinder program there
+> is a variable called soundThreshold. This variable is used to determine the lowest sound noise the robot should
+> detect. By tweaking this variable we were able to tune out much of the background noise while still being able to
+> detect the source sound being played. The soundThreshold used in the video is set to 30.
+>
 > ![G2](http://gitlab.au.dk/uploads/group-22/lego/b618e3191d/G2.png)
+> ##### Fig. 13: The Party Finder robot in action.
 >
 > ---
 > ## Conclusion