Lab6.markdown

@@ -53,10 +53,10 @@ As the program was executed the robot did not move at first as the sound level w
 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. (Se fig. 4). 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. 
 
 [![image alt text](http://img.youtube.com/vi/JBGse9FPEqY/0.jpg)](http://www.youtube.com/watch?v=JBGse9FPEqY)
-##### Fig. 3 - The video show the robot turning around itself, and
+##### Fig. 3 - The video show the robots noise interference.
 
 ![fig2_2](http://gitlab.au.dk/uploads/group-22/lego/54b4476620/fig2_2.jpg)
-##### Fig. 4 - The sound sensor 
+##### Fig. 4 - The sound sensor extension.
 
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@@ -71,7 +71,7 @@ We will test three different positions of the light sensors and test how it affe
 For the first experiment we mounted the two sensors at the front of the robot at an angle of ~45 degrees and a space of 12 cm. For the second experiment we used an angle of 0 degrees, where the sensors pointed in the direction of the robot and for the third we placed the sensors at ~10 degrees. (see Fig. 4)
 
 ![opstilling2](http://gitlab.au.dk/uploads/group-22/lego/3831a07e03/opstilling2.jpg)
-##### Fig. 5 - 
+##### Fig. 5 - The three experiments setup.
 
 To conduct our experiments we configured a LightVehicle.java class which mapped the light readings from each of the two sensors to the motors (see Fig. 6).