Lesson10.markdown

@@ -16,7 +16,6 @@ The goal of this exercise is to investigate how the method of odometry and the t
 
 The plan is to follow the plan described in [1].
 
-
 ## Odometry
 
 ![Measuring physical accuracy of the DifferentialPilot class](https://gitlab.au.dk/rene2014/lego/raw/master/Lesson10/Images/Odometry.JPG)
@@ -28,6 +27,21 @@ The plan is to follow the plan described in [1].
 | 3		   | -4.00 mm      |  3.50 mm    | 2.50 mm      | -1.90 mm     |
 
 
+
+## Calibration of wheel diameter and the track width
+
+Wheel diameter: Left:5,595*0,99   Right: 5,6*0,99     Trackwidth: 16.27
+
+
+| 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     |
+
+
+
+
 ## Conclusion