Lesson7.md

@@ -14,12 +14,21 @@ To implement observable behaviours on a vehicle fittet with three kinds of senso
 
 ## Plan
 We will attempt to complete the exercises within TODO hours.
-TODO will write the code, TODO will take notes, and TODO and TODO will be in charger of performing the experiments.
+Camilla will write the code, Emil will take notes, and Ida and Nicolai will be in charge of performing the experiments.
 
 ## Results
 ### Rebuilding robot
+We are using the picture of an augmented robot as inspiration for our rebuild, since there aren't any instructions. TODO insert picture of rebuilt robot - EMIL
 ### Avoid program from figure 9.3
+The program worked quite well. It avoided small obstacles put in it's vision, and even when it reached a corner, it seemed like it tried to find a way around the obstacle by looking 'increasingly much' to either side. When we looked into the code of the program, we saw that this was partially correct, since it did exactly that, but only with increasingly looking more to the left. TODO video of avoid program + description - EMIL
+
+#### Changing the program
+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.
+
+Follow behavior 
 ### Escape behavior
 ### Motor for light sensor
 ### SharedCar and Arbiter