Lesson-9.markdown

@@ -85,35 +85,39 @@ public void action()
 The suppressed functionality has also been implemented so that the behavior can escape from an higher order behavior. 
 
 
+## Sumo Wrestler LEGO Car
 
-## Motivation functions
+### Physical setup
 
+In order to win a sumo battle an offense and a defense strategy needs to be determined. The initial idea for the offense strategy is to use place a shovel in front of the LEGO car which goal is to lift the opposing LEGO car and thereby remove its control abilities. By placing a sonar sensor in front of the car it should be able localize the opponent and drive towards it. 
+The defense strategy involves keeping the LEGO car inside the ring. For this a light sensor is used that can distinguish between the black battle area and the white border. Whenever a border is detected the car will back up and make a turn. 
 
-## Sumo Wrestler Lego Car
+[INDÆST BILLEDE: original setup]
 
+### Software setup
 
-### Physical setup
 
-Offense: Sonar and light, shovel
-Defense: From the side: pressure sensors
 
-ITERATIONER
+### Results
 
--> Original som vi først havde tænkt
 
--> Fæstnet skovl, da den faldt af
 
--> Tilføjet randomness, for at variere search (Lejos random stinker)
+## Iterations
 
--> Tilføjet vægt for at gøre den sværere at skubbe
+In order to improve the performance of the sumo wrestler LEGO car a number of iterations has taken place which are described in the following. 
 
--> Extra lys sensor, da bilen kunne køre ud over banen i den ene side
+### Secured shovel
 
+![Secured shovel to avoid it falling off during a battle](https://gitlab.au.dk/rene2014/lego/raw/master/Lesson9/Images/SecuredShovel.JPG)
 
-### Software setup
+### Added randomness 
+Tilføjet randomness, for at variere search (Lejos random stinker)
 
-### Results
+### Added weight
+Tilføjet vægt for at gøre den sværere at skubbe
 
+### Extra light sensor
+-> Extra lys sensor, da bilen kunne køre ud over banen i den ene side
 
 ## Conclusion