Important Notes to Reference when Interpreting the Graphs and Data in the Excel files:


1. All sensor values are given in hundreds; these are the actual clock
   ticks returned from each sonar sampling method.  To calculate the
   distances they represent, use the following formula:
   (2.75 * reading) / 10000

2. All graphs show 91 data points for one or both of the sonar
   sampling methods (sonar_closeup() or sonar_sample()).  In
   experiments that are sweeping (i.e., moving the servo), each data
   point represents a 2 degree change in position.  This means that
   reading 0 is at 0 degrees; reading 45 is at 90 degrees, and reading
   73 is at 146 degrees.  In experiments with no sweeping, each data
   point was taken at 90 degrees.

3. Each spreadsheet file contains one experiment set.  There is one
   spreadsheet which contains all the data from each run in adjacent
   columns, which are then each graphed separately.  Each graph is on
   its own chart tab, which you can see at the bottom of the Excel
   window.  The tabs are meant to be named semi-intuitively, but
   sometimes this is not so easy; other experiments are named better
   via the titles on their chart.  Refer to exp.txt for a list of what
   each experiment set covers and the important experimental
   conditions for each one.


These should provide a better picture of what each graph represents.
Of course, I may not have covered everything; if you have any
questions, especially pertaining to reproducibility of these results,
feel free to email me at mystfire@drexel.edu.