Lesson7.md

@@ -26,10 +26,13 @@ The program worked quite well. It avoided small obstacles put in it's vision, an
 We tried changing the program by making the robot drive backwards a little when encountering an obstacle and then spin around 180 degrees (by making one motor drive forward and the other driving backwards). Initially we made it spin for 1 second (1000ms), which wasn't enough, but when we changed it to 2 seconds (2000ms) it spun approximately 180 degrees. TODO video of improved avoid program + description - EMIL
 
 ### Behavior from figure 9.9
-The car stopped and looked around every time it was bothered by either and obstacle or light. It was hard to distinguish whether it reacted due to light or an obstacle.
+The car stopped and looked around every time it was bothered by either an obstacle or light. It was hard to distinguish whether it reacted due to light or an obstacle. TODO video of avoid program + description - EMIL
 
-Follow behavior 
+Only:
+Cruise behavior - it just drives forward without any behavior changes.
+Follow behavior - it reacts according to a light reading compared to a threshold (based on an initial light reading). It uses reflective light, which we realized when we tried to close out the light by holding a hand infront of the sensor. This might lead to unintuitive behavior if its driving in a very dark room and gets close to a surface, since the avoid behavior wants to drive away from the surface, but the follow behavior might want to drive towards it. TODO reflective might only measure specific light values LOOK INTO IT CAMILLA - EMIL
 ### Escape behavior
+We use a program from p. 305[2]
 ### Motor for light sensor
 ### SharedCar and Arbiter