Lab7.markdown

@@ -127,6 +127,21 @@ The robot was placed a few metres from the door. The video (Fig 6) shows the rob
 
 #### Task 2:
 
+Look into the three classes and try to identify how the triggering conditions are implemented in each of the classes and how the actions for each behavior is implemented.
+
+#### Result: 
+
+Every command class has a triggering condition except 'cruise' which is always on unless it overruled by another.
+
+Follow: Is executed when frontLight is larger than lightThreshold. Otherwise it runs noCommand().
+
+Avoid: Is executed when frontDistance is less than stopThreshold. Otherwise it runs noCommand().
+
+Escape: Is executed if one of the front bumpers are activated. Otherwise it runs noCommand(). 
+
+
+#### Task 3:
+
 Watch the car with only the cruise thread active and then with only the cruise and the follow threads active to observe the behaviors more clearly.
 
 #### Plan: