Lesson3Week5.markdown

@@ -137,8 +137,52 @@ We are going to do this by using the the raw-value from the sensor, for better p
 
 #### Results
 
-#### Conclusion
+[![image alt text](http://img.youtube.com/vi/A6RI8WMmXpY/0.jpg)](https://www.youtube.com/watch?v=A6RI8WMmXpY&feature=youtu.be)
+##### Video3: Party Robot in action.
+
+
+```
+public class TinesPartyRobot {
+	private static SoundSensor micRight = new SoundSensor(SensorPort.S1);
+        private static SoundSensor micLeft = new SoundSensor(SensorPort.S2);
+	
+	private static int leftMic;
+	private static int rightMic;
+	private static int yarn;
+	
+	public static void main(String[] args) throws Exception {
+		while(!Button.ESCAPE.isDown()) {
+			rightMic = micRight.readValue();
+			leftMic = micLeft.readValue();
+			
+			yarn = leftMic - rightMic;
+
+			//drive forward
+			if (Math.abs(yarn) <= 4) {
+				Car.forward(75, 75);
+			}
+			//turn left
+			if (yarn > 6) {
+				Car.forward(0, 75);
+			}
+			//turn right
+			if (yarn < -6) {
+				Car.forward(75, 0);
+			}
+			Thread.sleep(30);
+		}
+		Car.stop();
+		LCD.clear();
+		LCD.drawString("Program stopped", 0, 0);
+		Thread.sleep(2000);
+	}
+}
+
+```
+##### CodeSnip2: This shows a snippet of our implemented Party Robot code.
 
+#### Conclusion
+The code we have implemented uses three steps; one for driving forward, one for driving left and for driving right. We subtract the two sound levels from the microphones, to see which one of the microphones that registres a higher sound level than the other. We store this new value in a variable and uses it to determine in which direction the robot should drive. If the variable is higher than 7 the robots turns right, if it lower than -7 the robot turns left, and if the value is positive and lower or equal to 7 the robot drives forward. The last step is implemented so that it drives forward when the two microphones registres almost the same level.
 
 ### Overall Conclusion