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Lesson10.markdown
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......@@ -51,9 +51,7 @@ The wheels diameter is calibrated by letting the car drive 50 cm and then adjust
![Calibration of LEGO car parameters](https://gitlab.au.dk/rene2014/lego/raw/master/Lesson10/Images/Calibration.JPG)
The final parameter values are shown in the following table.
#### Initial square run with calibrated values
We found out that it was necessary to set the right wheel diameter a little higher than the left in order to make the LEGO car drive straight. The calibrated values are shown in the following table.
| Parameter | Value |
| ------------------------- |:---------------:|
......@@ -61,7 +59,7 @@ The final parameter values are shown in the following table.
| Right wheel diameter | 5.544 cm |
| Track width | 16.27 cm |
We found out that it was necessary to set the right wheel diameter a little higher than the left in order to make the LEGO car drive straight. The calibration is validated by letting the LEGO car drive in a 50 x 50 cm square as shown in following image.
To validate the calibrated values we let the LEGO car drive in a 50 x 50 cm square as shown in following image. The goal is after the trip to end back up in the start position.
![Validation of LEGO car parameters - Left turns](https://gitlab.au.dk/rene2014/lego/raw/master/Lesson10/Images/PilotSquareLeftTurns.JPG)
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