Lesson8.md

@@ -12,7 +12,7 @@
 
 3 hours on Monday 2nd (Nicolai)
 
-1 hours on Wednesday the 4th (Ida)
+1 hour on Wednesday the 4th (Ida)
 
 9 hours on Thursday the 5th (Emil, Ida, Nicolai)
 
@@ -278,7 +278,7 @@ Deciding to take a break from attempting the combined approach, we resorted to i
 
 ##### Switching between navigation types
 
-We constructed an architecture with a class, **_Switcher.java_** [19] with a field variable of the interface type **_NavigatingRobot.java_** [20], initially instantiated as a **_PilotedBot.java_** [21] which was intended to navigate using DifferentialPilot. The class **_SensorSteeringBot.java_** [22] implements line following similar to that of GodBot.java. The idea was then to switch between a PilotedBot instance and a SensorSteeringBot instance on different triggers, such as reading black on both sensors. We never finished implementing this idea: It dawned on us that this was very similar to using an arbiter, and upon investigating how to implement it using an arbiter, we reached the conclusion that we were not certain that this would free us from the trouble of combining the individual motor control of Car with DifferentialPilot. We therefore went back to attempting to implement line following, now with a fresh mindset (as the arbiter discussion took place in the beginning of our session on Monday the 9th of May).
+We constructed an architecture with a class, **_Switcher.java_** [19] with a field variable of the interface type **_NavigatingRobot.java_** [20], initially instantiated as a **_PilotedBot.java_** [21] which was intended to navigate using DifferentialPilot. The class **_SensorSteeringBot.java_** [22] implements line following similar to that of GodBot.java. The idea was then to switch between a PilotedBot instance and a SensorSteeringBot instance on different triggers, such as reading black on both sensors. We never finished implementing this idea: It dawned on us that this was very similar to using an arbiter, and upon investigating how to implement it using an arbiter, we reached the conclusion that we were not certain that this would free us from the trouble of combining the individual motor control of Car with DifferentialPilot. We therefore went back to attempting to implement line following, now with a fresh mindset (as the arbiter discussion took place in the beginning of our session on Monday the 9th of May). All of the classes for the switching are located in the folder ExperimentDebris, as the switcher never became functional and we did not want useless code to clutter the remaining code that we were working on.
 
 ##### Using a bumper