@@ -85,8 +85,10 @@ Because of the increase in the height of the sensor when going from the ramp and
### Exercise 5 - PID Line Follower
#### Goal
Our goal is to make it possible to make a line follower with just one light sensor that follows the line more smoothly and drive faster when a PID regulator is used.
#### Plan
We are going to take inspiration from the pseudo code in: “A PID Controller For Lego Mindstorms Robots”[2].
#### Results
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@@ -96,7 +98,8 @@ Because of the increase in the height of the sensor when going from the ramp and
### Exercise 6 - Color Sensor
#### Goal
In the LEGO Mindstorms series there is also a color sensor. The goal is to test the program ColorSensorSensor.java[1] and to investigate the information that the class ColorSensor provide in Full mode, and further see how it distinguish the three colors from each other.
Lastly, we will check if it Is possible to use the color sensor for both following the black line and stop in the goal zone.
#### Plan
#### Results
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@@ -107,3 +110,5 @@ Because of the increase in the height of the sensor when going from the ramp and
### Overall Conclusion
### References
1. Sourcecode for the programs in this lesson can be found in Lesson4programs.zip.
2.[A PID Controller For Lego Mindstorms Robots.](http://www.inpharmix.com/jps/PID_Controller_For_Lego_Mindstorms_Robots.html]
