Lesson10.markdown

 # Group 7
 
-## Lab Notebook - Lesson 9
+## Lab Notebook - Lesson 10
 
 **Date:** 07/05 2015
 
@@ -72,8 +72,8 @@ The **Non-systematic** involves variations in the surface and the internal uncer
 | Parameter  				| Value		      | 
 | ------------------------- |:---------------:| 
 | Left wheel diameter       | 5.539 cm  	  | 
-| Right wheel diameter	    | 5.544 cm     	  |  
-| Track width		        | 16.4 cm         |  
+| Right wheel diameter	    | 5.544 cm     	  |
+| Track width		        | 16.4 cm         |
 
 5.595*0.99 = 5.539
 5.6*0.99 = 5.544
@@ -129,6 +129,13 @@ Angle noise factor = 2.5
 
 
 ## Conclusion
+Notes:
+Heltals afrunding af tachometer ved start og stop af både travel og rotate.
+Baghjulets påvirkning
+
+
+Position tracking with obstacle avoidance:
+Use travel and rotate with immediateReturn = true. Then the commands can be overridden by a avoidance behavior.
 
 
 ## References