@@ -43,6 +43,11 @@ identical measurements - Due to blocking call so the system waits
Battery almost out of power - might affect the measurements
The delay from sending a ultrasonic sound, until the echo is received is 2*distance/speed of sound.
For the maximum distance of 2,54m the delay will be 2*2.54m /343.21m/s = 14.8ms.
Assuming the air temperature is 20 degrees of celcius.
This puts a physical time limitation on the usage of the sensor.
### Exercise 4
The program described in exercise 4 is able keep a fixed distance to an object in front of the regulated device. In order to so it implements a linear feeback system in terms of a proportional only controller where the feedback is the measured distance to the object. By subtracting the measured distance from the setpoint and multipliyng this by a Pgain factor the program will make the car drive fast when it is far away from the object and decrease the speed as it gets closer to the object.
