Lab6.markdown

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 ##### Fig. 2 - shows the direct mapping between soundVal and motor power.
 
-As the program was executed the robot did not move at first as the sound level was low. As we increased the sound level using a cell phone, the robot started moving towards it. As the motor power is directly mapped to the sound level, the robot moved faster and slower according to the sound level.
+As the program was executed the robot did not move at first as the sound level was low. As we increased the sound level using a cell phone, the robot started moving towards it. As the motor power is directly mapped to the sound level, the robot moved faster and slower according to the sound level. This behavior is described as excitatory by Braitenberg [1].
 
 During our experiment we noted some disturbances to the readings due to the noise made by the robot itself. As the robot accelerates it produces noise which interfere with the sound reading. (See Fig. 3). This resulted in the robot continuing to the drive forward though the sound level was decreased. To overcome this problem we decided to mount the sound sensor at an increased distance to the robot. (indsæt fig2 picture[2]). By doing this the robot became less sensible to noise produced by itself.(video) Additionally we noted that the robot must be exposed to a certain amount of sound before it moves. This is due to the motors that need at least 50% power before they move. Finally we had a problem with uneven distribution of power to the two motors, but the problem was solved by replacing one of them.