Lesson-5.markdown

@@ -251,14 +251,16 @@ The small changes, which is seen in the graph might be due to drift, or inaccura
 From the test we can conclude that the gyro sensor is drifting very little over a period of half a minute, at least when the environment is not changing. 
 Other similar tests could be performed to test how the environment(temperature, humidity etc.) affects the drift.
 
+To test the robot and the different gains effect on the robot, as described in the setup, we tried to control the robot with one gain at a time:
 
-Forklar hvordan vi har isoleret de forskellige gains og hvad de gjorde.
+**KGyroAngle**: Controlling the robot only with the gyro angle, was not possible. The problem encountered was that the angle drifted with time. In the beginning of the test, the angle was correctly 0 degrees when the robot was in an upright position, but during the test this changed to +5-10 degrees. This meant that the robot tried to maintain a position which was not upright, and therefore fell over.
+**KGyroSpeed**: The gyro speed did not drift in the same way as the angle and as a consequent the control using only the gyro speed was much better than the angle, although it was not sufficient for the robot to maintain balance.
+**KSpeed**: The motor speed gain determines the resistance in the motor. The faster the wheel was spanned, the higher the resistance from the motor.
+**KPos**: The motor position gain makes the wheel turn back to its original position. Increasing the gain increases the speed with which the motor turns back to the set-point. If increased to much, the motors starts oscillating.
 
-KGyroAngle = Positiv vinkel selvom den ikke burde/forkert vinkel -> Skru op for denne så vælter lortet. Robottens nulpunkt drifter
-KGyroSpeed = Fungerer fint. Jo højere værdi jo hurtigere reagere robotten
-KSpeed = Jo hurtigere hjulet drejes jo mere modstand gives i motoren.
-KPos = VIrker som forventet. Bestemmer en gain faktor i forhold til hvor hurtigt motorene finder tilbage til set point
 
+In the first test of the robot, the gyro sensor was placed on the shoulder of the robot. This gave rise to a lot of fluctuations in the gyro sensor data, due to the fact that robots upper part is very loosely connected to the lower part and therefore shakes a lot.
+In the second part, the gyro sensor was attached to the lower part of the robot. This removed a lot of the high fluctuations due to the tremors.
 
 Hvad vi har prøvet: