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In theory the actual and the measured distance should be identical. However many physical factors are affecting the ultra-sonic sensor measurements including temperature, material of the object in front and the angle between the wall and the sensor. At the time writing it is not completely clear what the exact cause of the deviation is.
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### Exercise 2
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identical measurements - Due to blocking call so the system waits
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### Exercise 3
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Battery almost out of power - might affect the measurements
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### Exercise 4
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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.
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