Lesson7.md

@@ -45,10 +45,10 @@ We tried changing the program by making the robot drive backwards a little when
 
 
 ### Observing the Avoid, Follow and Cruise behaviors
-We were provided with the program ***RobotFigure9_9.java*** which implements a behavior control network incorporating three behaviors: Avoid (as described earlier), Follow (which seeks out bright light and follows it), and Cruise (which simply drives the robot forwards). Figure 3 shows a diagram of the behavior control network. We ran the program in order to observe the resulting conduct of the robot.
+We were provided with the program ***RobotFigure9_9.java*** which implements a behavior control network incorporating three behaviors: Avoid (as described earlier), Follow (which seeks out bright light and follows it), and Cruise (which simply drives the robot forwards). Figure 3 shows a diagram of the behavior control network. We ran the program in order to observe the resulting conduct of the robot, before implementing an Escape behavior as well (next section).
 
 ![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]. The image is originally Figure 9.9 in [2].*
+*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].*
 
 
 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