Lab3.markdown

@@ -258,17 +258,48 @@
 > ##### Fig. 11: Picture showing how we mounted the two sound sensors on the NXT robot.
 >
 > The two sound sensors were mounted on the opposite sides of the robot facing away from each other at a 90 degree
-> angle (perpendicular to each other), as can be seen in fig. ??.
+> angle (perpendicular to each other), as can be seen in (see fig. 11).
 >
 > We wrote a class called NoiseFinder using eclipse with the LejOs plugin. The class imported a number of LejOs
 > features, but primarily sensorPort and soundSensor were the ones we used during this exercise. 
 > 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 [fig. ??]. This of course meant that the robot only could drive to the
+> with three part if, else if & else loop [see fig. 11]. 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.
 >
+> ```
+        while (! Button.ESCAPE.isDown())
+        {
+        	Thread.sleep(5);
+        	
+            soundLevelRight = soundRight.readValue();
+            LCD.drawInt(soundLevelRight,4,10,0);
+            
+            soundLevelLeft = soundLeft.readValue();
+            LCD.drawInt(soundLevelLeft,4,10,0); 
+            
+            //dlR.writeSample(soundLevelRight);
+            //dlL.writeSample(soundLevelLeft);
+        	
+        	if (soundLevelRight > soundLevelLeft && soundLevelRight > soundThreshold) { //Ser i hvilken side hvor lydniveauet er højest og drejer derefter.
+                LCD.drawString("Noise is right   ",0,1);
+                Car.forward(90, 60);
+        		}
+        	
+        	else if (soundLevelLeft > soundLevelRight && soundLevelLeft > soundThreshold) {		    			   
+        		LCD.drawString("Noise is left    ",0,1);
+        		Car.forward(60, 90);
+        		}
+        	else {
+        		Car.forward(70, 71);
+        	}
+        }
+       
+
+```
+>
 > #### Results
 >
 > ![G2](http://gitlab.au.dk/uploads/group-22/lego/b618e3191d/G2.png)