Lesson10.markdown

@@ -30,6 +30,26 @@ The plan is to follow the plan described in [1].
 
 ## Calibration of wheel diameter and the track width
 
+#### Initial square run with calibrated values
+
+| Parameter  				| Value		      | 
+| ------------------------- |:---------------:| 
+| Left wheel diameter       | 5.539 cm  	  | 
+| Right wheel diameter	    | 5.544 cm     	  |  
+| Track width		        | 16.27 cm        |  
+
+
+| 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     |
+
+
+
+#### Tweaking parameters according to square run with left turns.
+
+
 | Parameter  				| Value		      | 
 | ------------------------- |:---------------:| 
 | Left wheel diameter       | 5.539 cm  	  | 
@@ -48,8 +68,30 @@ The plan is to follow the plan described in [1].
 | 3		   | -1.00 mm      | 0.00 mm     | 1.80 mm      | -2.30 mm     |
 
 
+
+#### Reversed square with right turns
+
+| Attempt  | Measured x    | Measured y  | Calculated x | Calculated y |
+| -------- |:-------------:| -----------:| ------------:| ------------:|
+| 1        | 30.00 mm      | 40.00 mm    | 1.30 mm      | 2.30 mm      |
+| 2        | -27.50 mm     | -30.00 mm   | 5.20 mm      | 2.70 mm      |
+
+
+#### Final parameters
+
+| Parameter  				| Value		      | 
+| ------------------------- |:---------------:| 
+| Left wheel diameter       | 5.539 cm  	  | 
+| Right wheel diameter	    | 5.544 cm     	  |  
+| Track width		        | 16.27 cm        |  
+
+
 ## Position tracking by means of particle filters
 
+500 mm kørt distance. Afstand fra mål ~0.5 mm = dist_err 	= 0.001
+Rotation error ~0.5 degrees. 0.5/360 						= 0,00138
+
+
 ## Conclusion