Lab5.markdown

@@ -71,6 +71,41 @@ In the datalogger class we had to replace FileOutputStream with BufferedOutputSt
 >
 > ![PID_gui](http://gitlab.au.dk/uploads/group-22/lego/56fed5f205/PID_gui.png)
 > ##### Fig. 4 - Control GUI used to adjust the PID values as well as offset (o) and SCALE (s). 
+>
+> While using the GUI we ran into a problem where the values would not be sent correctly to the robot. Instead of just sending one value for the P parameter all the values would change to the same as the P value. We think the problem lies in the PCcarController.java program. In the part of the program that sends the values to to robot, we had forgot to change the I value from an int to a float value (see fig. 5). After fixing this the Bluetooth connection seemed to work normally again. 
+>
+>```
+ try
+         {
+    	    String pString = pField.getText();
+    	    int p = new Integer(pString).intValue();        
+            dos.writeInt(p);
+            dos.flush();
+            
+    	    String iString = iField.getText();
+    	    float i = new Float(iString).intValue(); 	 // The I value needs to be a float value in  
+            dos.writeFloat(i);				// order to send decimal numbers. 
+            dos.flush();
+            
+            String dString = dField.getText();
+    	    int d = new Integer(dString).intValue();        
+            dos.writeInt(d);
+            dos.flush();
+           
+            String oString = oField.getText();
+    	    int o = new Integer(oString).intValue();        
+            dos.writeInt(o);
+            dos.flush();
+            
+            String sString = sField.getText();
+    	    int s = new Integer(sString).intValue();        
+            dos.writeInt(s);
+            dos.flush();
+          
+         }
+
+```
+
 >
 >---
 >