Lab3.markdown

@@ -29,8 +29,8 @@
 >
 > #### Plan
 >
-> We made a program similar to the SonicSensorTest called SoundSensorTest, but changed it to use the sound sensor and
-> get the readings using the readValue() method of the SoundSensor class.
+> We made a program similar to the SonicSensorTest called SoundSensorTest (see fig. 1), but changed it to use the
+> sound sensor and get the readings using the readValue() method of the SoundSensor class.
 >
 > ```
 > public class SoundSensorTest 
@@ -67,7 +67,7 @@
 > identical claps in a row.
 >
 > To compensate for the inconsistency we decided to use a smartphone and transmit a constant tone. The setup is
-> showed in the picture below. The car was placed on a table in the middle of the room and loudness were measured
+> showed in (see fig. 2). The car was placed on a table in the middle of the room and loudness were measured
 > from different distances:
 >
 > ![P1](http://gitlab.au.dk/uploads/group-22/lego/62d5a5f655/P1.png)
@@ -86,10 +86,10 @@
 > | 4   | 9-11   |
 > ##### Fig. 3: Table of sensor reading. 
 >
-> The table shows the distance between the sound sensor and the sound source and the value read by the sensor. 
-> We used a phone to play a constant tone at the maximum volume. The highest readings came from the closest distance
-> and once the distance increases the sensor readings decreased gradually. When the distance was above 4 metres the
-> readings went down to the background-noise level. This might change if we used another sound source.
+> The table (see fig. 3) shows the distance between the sound sensor and the sound source and the value read by the
+> sensor. We used a phone to play a constant tone at the maximum volume. The highest readings came from the closest
+> distance and once the distance increases the sensor readings decreased gradually. When the distance was above 4
+> metres the readings went down to the background-noise level. This might change if we used another sound source.
 >
 > ---
 > # Exercise 2 - Data logger
@@ -106,13 +106,13 @@
 > #### Result
 >
 > The DataLogger was used to log data from the sound sensor. The experiment consisted of a period of 10 seconds in
-> which consecutive snaps were made with the fingers. The graph below shows the results:
+> which consecutive snaps were made with the fingers.
 >
 > ![G1](http://gitlab.au.dk/uploads/group-22/lego/093160e740/G1.png)
 > ##### Fig. 4 Recording of a sequence of four finger snaps. The graph shows  data logged from the NXT while running the SoundSampler program.
 >
-> The graph shows four distinct spikes in the sound level caused by the finger snapping. The spikes peak at 30-50
-> dB before the sound level goes back to its normal. The background noise measured is about 2-10 dB.It is
+> The graph (see fig. 4) shows four distinct spikes in the sound level caused by the finger snapping. The spikes peak
+> at 30-50 dB before the sound level goes back to its normal. The background noise measured is about 2-10 dB.It is
 > interesting to note that the spikes increase faster than they fade away. This observation can be due to resonance
 > or echo from the sound waves which take some milliseconds to fade away.
 >
@@ -129,9 +129,9 @@
 >
 > #### Result
 >
-> The test was conducted on a table where the car was controlled using voice commands. When the car detected the
-> first spike it would drive forward, when it heard the second it would turn left, on the third it would turn right
-> and on the fourth it would stop.
+> The test was conducted on a table where the car was controlled using voice commands (see fig. 5). When the car
+> detected the first spike it would drive forward, when it heard the second it would turn left, on the third it would
+> turn right and on the fourth it would stop.
 >
 > [![image alt text](http://img.youtube.com/vi/wlh4UXzuPlk/0.jpg)](http://www.youtube.com/watch?v=wlh4UXzuPlk)
 > ##### Fig. 5: Video of the clap controlled robot in action.
@@ -149,7 +149,6 @@
 > used to stop the program. This does not work when the program loops in one of the four inner loops. You can make
 > the ESCAPE button always work as a program terminator if you also poll the state of the button in the inner loops.
 > But you can also use the ButtonListener mechanism to listen for the ESCAPE button and exit when ESCAPE is pressed.
-> A simple example of a ButtonListener can be seen in the leJos tutorial, [ref. 6]. Try this in the program.
 >
 > #### Plan
 >