Lesson7.md

@@ -50,7 +50,7 @@ We were provided with the program ***RobotFigure9_9.java*** [6] which implements
 ![Behavior control network](https://gitlab.au.dk/LEGO/lego-kode/raw/master/week9/img/fig99.PNG)  
 *Figure 3: Diagram of the behavior control network of section 9.5 in [2], exluding the Escape behavior. The original diagram, including the Escape behavior, is Figure 9.9 in [2].*
 
-Running ***RobotFigure9_9***, the robot would stop and turn to both sides every time it was bothered by either an obstacle or light, in the same manner as with ***AvoidFigure9_3***. It was hard to distinguish whether it was reacting to light or an obstacle, as the resoponses looked the same (if one didn't use the LCD screen that is). Later, a closer look at the code confirmed that the behavor implementations were similar, in that they both sought in the direction of the higher value (of either light reading or distance). The behavior of the initial implementation of ***RobotFigure9_9*** can be seen in video 3, where the robot avoids the walls and follows the incriased light source of Idas mobile phone.
+Running ***RobotFigure9_9***, the robot would stop and turn to both sides every time it was bothered by either an obstacle or light, in the same manner as with ***AvoidFigure9_3***. It was hard to distinguish whether it was reacting to light or an obstacle, as the responses looked the same (if one didn't use the LCD screen that is). Later, a closer look at the code confirmed that the behavior implementations were similar, in that they both sought in the direction of the higher value (of either light reading or distance). The behavior of the initial implementation of ***RobotFigure9_9*** can be seen in video 3, where the robot avoids the walls and follows the increased light source of Idas mobile phone.
 
 [![Avoid follow cruise](http://img.youtube.com/vi/2qxAJpQgZMM/0.jpg)](https://www.youtube.com/watch?v=2qxAJpQgZMM)  
 *Video 3: The robot running with three behaviors: Cruise, Follow, and Avoid*
@@ -62,7 +62,7 @@ Furthermore, observing the robot running with the Follow behavior, we became awa
 ![Pale hand and dark shirt](https://gitlab.au.dk/LEGO/lego-kode/raw/master/week9/img/handshirt.PNG)  
 *Figure 4: Pale hand and t-shirt made of dark fabric. The hand reflected too much light back to the sensor causing it not to register that the torch light was blocked, while the dark fabric succesfully blocked the torch light.*
 
-We speculate that this might lead to unintuitive behavior. For instance, if the robot gets close to a white wall, the Follow behavior might cause it to be drawn to the wall before the Avoid behavior kicks in and drives it away from the surface. We however concluded that this would not affect the robots follow behavior in other cases, as it would just pick up upon the red color spectrum of the ambient light or the mobile torch and still measure a higher value.
+We speculate that this might lead to unintuitive behavior. For instance, if the robot gets close to a white wall, the Follow behavior might cause it to be drawn to the wall before the Avoid behavior kicks in and drives it away from the surface. In a dark room, where the ambient light set point is very low, it might even 'follow' a white wall from a significant distance, though we aren't sure how far from a white wall it needs to be for the reflection to be readable. We however concluded that this would not affect the robots follow behavior in other cases, as it would just pick up upon the red color spectrum of the ambient light or the mobile torch and still measure a higher value.
 
 Additionally, we discovered a slight nuisance during closer observations of the Follow behavior. The robot would, when left alone, constantly stop up and check its sides for light sources, even when not given any significant light source from a torch, as shown in video 4.