Update README.md, images/externalRejection.png, images/externalRejection.mp4 files

README.md

@@ -4,12 +4,20 @@
 
 ## HTMSTMAA Week 12 - 5/27/21
 
-![revolutionRepeatability.png](./images/revolutionRepeatability.png)
+Getting to a state of a working encoder took some pretty abominable debugging/hacks (see video below), but the results are promising and I am excited to integrate it into a motor driver.
+
+[<img src="images/spinningIndicator.png" width="800">](https://gitlab.cba.mit.edu/davepreiss/ldcoder/-/blob/master/images/spinningIndicator.mp4)
 
 ![encoderError.png](./images/encoderError.png)
 
+It's worth noting that the AMT encoder that I am using as a reference is rated to [0.25 deg of accuracy](https://www.cuidevices.com/product/resource/amt10.pdf). So we are definitely within the right order of magnitude for a comercial product. The spec is also ambiguous in that it doesn't specify a +/-
+
 ![encoderNoise.png](./images/encoderNoise.png)
 
+![revolutionRepeatability.png](./images/revolutionRepeatability.png)
+
+One big question I had was if EMF from the motor would manifest as noise at the sensor.
+
 ## HTMSTMAA Week 11 - 5/20/21
 
 I spent the majority of this week (and last) stuck in debugging world with the encoder peroject. I actually only got everything back up and running last night, so my documentation is a little rushed here.