Lesson-8.markdown

@@ -20,7 +20,7 @@ The control strategy idea for the car is to make the car drive forward until it
 ## Gyro Offset Test
 
 ### Setup
-The gyro sensor is placed on the Lego car as shown in the picture below, and both motors are set to full power, while the car is turned upside down. This is down, to test what effect the motor have on the gyro offset. 
+The gyro sensor is placed on the Lego car as shown in the picture below, and both motors are set to full power, while the car is turned upside down. This is done to test what effect the motor have on the gyro offset. 
 The gyro measurements are saved using a datalogger. The source code is found in [2].
 
 
@@ -51,7 +51,7 @@ We have chosen to describe entering a plateau based on the gyroscope in the foll
 ![Upper part: Gyro measurements with both motors turned on at full power. The car was placed on a ramp on the Alishan track, and stopped on the first plateau. Note that the car was driving up the ramp. Lower part: Filtered gyro measurements with an exponential filter.](https://gitlab.au.dk/rene2014/lego/raw/master/Lesson8/Images/GyroPlateauUpMiddle.png)
 
 
-![Upper part: Gyro measurements with both motors turned on at full power. The car was placed on a ramp on the Alishan track, and stopped on the first plateau. Note that the car was driving up the ramp. Lower part: Filtered gyro measurements with an exponential filter.](https://gitlab.au.dk/rene2014/lego/raw/master/Lesson8/Images/GyroPlateauDownMiddle.png)
+![Upper part: Gyro measurements with both motors turned on at full power. The car was placed on a ramp on the Alishan track, and stopped on the first plateau. Note that the car was driving down the ramp. Lower part: Filtered gyro measurements with an exponential filter.](https://gitlab.au.dk/rene2014/lego/raw/master/Lesson8/Images/GyroPlateauDownMiddle.png)