Lesson10.markdown

@@ -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)