Week 4

This week we had to experiment with a balancing robot utilizing the
light sensor.

Using the light measure of calibration phase of the program we
determined the light values varies from around 540 when tilting
forward (closer to the ground) to 530 when tilted backwards.

The program uses the three error values (P,I,D) to determine a course
of action.

We tried changing to effect of the D value to decrease the jerking
motions that caused the robot to overcompensate and fall over. But out
changes either didn't noticeable affect the robot, or it had too great
an affect and the robot would fall over by not compensating enough.

In the end we had the most sucess by spending a very long time in the
calibration phase finding a very accurate balance value.