Week8-Embodied-Agents-and-Adaptive-Flocks-of-Agents.markdown

@@ -69,7 +69,25 @@ The Braitenberg vehicle[10] using ultrasonic sensors bumps into several objects
 
 *Vehicle 3 mounted with light and ultrasonic sensors.*
 
-We built the Braitenberg vehicle 3 using two ultrasonic sensors and two light sensors. The light sensors had the floodlight disabled. Our goal was to create a robot avoiding obstacles and shadows. 
+We built the Braitenberg vehicle 3 using two ultrasonic sensors and two light sensors. The light sensors had the floodlight disabled. Our goal was to create a robot avoiding obstacles and shadows. First we made the vehicle's power only depend on the ultrasonic sensors. For calculating the motor power from the ultrasonic sensor, we used the following method:
+
+```java
+public static int motorPowerFromDistance(int distance) {
+	int power;
+	if (distance < 50) {
+		power = 0;
+	} else if (distance < 75 ) {
+		power = 25;
+	} else if (distance < 100) {
+		power = 50;
+	} else {
+		power = 100;
+	}
+	return power;
+}
+```
+
+When calculating the motor power, using also the light sensors, we simply averaged the motor power from this method and the method used for the vehicle using 2 light sensors[2]. This seemed to create a reasonable balance between the 2 two sensors, and made the vehicle drive around objects and avoid shadows as seen in video [7]
 
 
 ## Conclusion