Lesson-3.markdown

@@ -17,11 +17,51 @@ The plan is to follow the instructions given in the instructions for Lesson 2 [1
 ## Results
 
 ### 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);
+}
+```
+
 ## Conclusion
 
 ## References