Lesson4Week6.markdown

@@ -123,12 +123,13 @@ public class PIDCarController {
     	LCD.drawInt(error,4,10,3);
     	LCD.refresh();
 
+        // Current light reading
         int LightValue = light.readValue();
 
-        //calculates the error by subtracting the offset
+        // Calculates the error by subtracting the offset
     	error = LightValue - offset; 
 
-        //calculates the derivative by subtracting the current error with the last error    										
+        // Calculates the derivative by subtracting the current error with the last error    										
     	derivative = error - lastError ;    		
 
         // To avoid wind up and high integral value, we reset it to zero if the error equals 
@@ -138,7 +139,7 @@ public class PIDCarController {
     		integral= 0;
     		integral = integral + error; }
     	
-        // Here we calculate the value for the turn
+        // Calculate the value for the turn
     	turn = (int) ((Kp * error) + (Ki * integral) + (Kd * derivative));		
     	
         // Instantiates the power for the two motors