Lesson-3.markdown

@@ -18,49 +18,9 @@ The plan is to follow the instructions given in the instructions for Lesson 2 [1
 
 ### Exercise 1
 
-### Exercise 2
 ![Measured sound level as a function of sound level from a mac pc](https://gitlab.au.dk/rene2014/lego/raw/ffd008e7c3df32eb42b20f306dc2ff655fd9a17b/Week5/Measurements/SoundLevelMeasurements.png)
 
-### Exercise 3
-
-### Exercise 4
-
-### Exercise 5
-
-![Clap characteristics]
-(https://gitlab.au.dk/rene2014/lego/raw/master/Week5/Measurements/ClapMeasurements.png)
-
-### Exercise 6
-
-```java
-static float 	Kp = 5.0f,
-				Ki = 0f,
-				Kd = 0.5f;
-	
-static int 		dt = 10;
-
-...
-
-DifferentialPilot pilot = new DifferentialPilot(56f, 113f, Motor.B, Motor.C);
-pilot.forward();
-pilot.setTravelSpeed(100);
-
-while(!Button.ESCAPE.isDown())
-{
-	leftNoise = leftSound.readRawValue()-30; //kalibrering :-)
-	rightNoise = rightSound.readRawValue();
-			
-	int error = leftNoise - rightNoise;
-	integral = integral + error*dt;
-	int derivative = (error - last_error)/dt;
-	float turn = Kp*error + Ki*integral + Kd*derivative;
-	last_error = error;
-			
-	pilot.steer((int)turn);	
-			
-	Thread.sleep(dt);
-}
-```
+![Clap characteristics](https://gitlab.au.dk/rene2014/lego/raw/master/Week5/Measurements/ClapMeasurements.png)
 
 ## Conclusion