Lesson-7.markdown

@@ -44,7 +44,7 @@ if(leftDistance < stopThreshold &&
 } 
 ```
 
-The `rotate` function added to the `PrivateCar` class is defined as follows:
+The `rotate()` function added to the `PrivateCar` class is defined as follows:
 
 ```java
 public void rotate(boolean left, int power)
@@ -146,15 +146,17 @@ The *Arbiter* contains a list of *SharedCars* and constantly check, in a priorit
 This will ensure that the behaviors with the highest priority will drive the actual car, if it have any commands for it.
 
 ### Comparison to Fred Martin
-The *Prioritizing Algorithm* by Fred Martin is written in C and implements the same functionality as the *SharedCar* and *Arbiter* classes. The differences is that in Fred Martins code, forward, backward and stop is controlled by the motor power. That is, forward is a positive value, backward is a negative value and stop is zero. In the *SharedCar* the direction must be set explicitly.
+The *Prioritizing Algorithm* by Fred Martin [2] is written in C and implements the same functionality as the *SharedCar* and *Arbiter* classes. The differences is that in Fred Martins code, forward, backward and stop is controlled by the motor power. That is, forward is a positive value, backward is a negative value and stop is zero. In the *SharedCar* the direction must be set explicitly.
 In Fred Martins code, arrays are preallocated to be able to contain ten processes, whereas in the *Arbiter* an arbitrary number of processes can be added runtime.
 
 ## Conclusion
 
 
+
 ## References
 
 [1] http://legolab.cs.au.dk/DigitalControl.dir/NXT/Lesson7.dir/Lesson.html
+[2] Fred G. Martin, Robotic Explorations: A Hands-on Introduction to Engineering, Prentice Hall, 2001.
 
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