Lesson-5.markdown

@@ -225,7 +225,7 @@ The controller used for this exercise is inspired by the controller described in
 
  * **GyroAngle:** This term is responsible for causing the robot to return to the starting position (standing upright). If the robot starts in the upright position, that angle will be 0 degrees. This value will be positive if the robot is leaning forward, and negative if its leaning backward, thus contributing to the control output.
  * **GyroSpeed:** This term is non-zero when the robot is accelerating, and thus contributes to the control output when the robot is falling.
- * **MotorPosition:** This term is non-zero when the wheels of the robot has turned from the starting point. This term can be used to drive the robot to a desired location, however we did not exploit this fact in this exercise.
+ * **MotorPosition:** This term is non-zero when the wheels of the robot has turned from the starting point. Thus, this term is responsible for keeping the robot stationary, and is not related to staying upright. This term can be used to drive the robot to a desired location, however we did not exploit this fact in this exercise.
  * **MotorSpeed:** This term is non-zero when the wheels of the robot are rotating. This term keeps the robot from oscillating.
 
 Like in the previous exercises a PC connection class is used to establish a Bluetooth connection between the NXT and the PC letting us choose values for the control parameters on the fly.