Lesson10.markdown

@@ -34,7 +34,7 @@ The plan is to follow the plan described in [1].
 | ------------------------- |:---------------:| 
 | Left wheel diameter       | 5.539 cm  	  | 
 | Right wheel diameter	    | 5.544 cm     	  |  
-| Track width		        | 16.27 cm        |  
+| Track width		        | 16.4 cm         |  
 
 5.595*0.99 = 5.539
 5.6*0.99 = 5.544
@@ -42,9 +42,10 @@ The plan is to follow the plan described in [1].
 
 | Attempt  | Measured x    | Measured y  | Calculated x | Calculated y |
 | -------- |:-------------:| -----------:| ------------:| ------------:|
-| 1        | -10.00 mm     | -13.00 mm   | 1.30 mm      | -1.30 mm     |
-| 2		   | -10.00 mm     | -10.00 mm   | 2.80 mm      | -2.80 mm     |
-| 3		   | -13.00 mm     | -15.00 mm   | 3.00 mm      | -1.80 mm     |
+| 1        | 5.00 mm       | 5.00 mm     | 0.60 mm      | -0.60 mm     |
+| 2		   | -1.25 mm      | 2.50 mm     | 1.90 mm      | -2.10 mm     |
+| 3		   | 2.00 mm       | 3.00 mm     | 6.30 mm      | -1.80 mm     |
+| 3		   | -1.00 mm      | 0.00 mm     | 1.80 mm      | -2.30 mm     |
 
 
 ## Position tracking by means of particle filters