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--- marvin:lab8 [2008/11/07 13:01] – deva
+++ marvin:lab8 [2008/11/07 13:19] – sohn
@@ Line 15: / Line 15: @@
 ====Execution====
 We modified the code to be more modular. This was not part of the exercise, but it made it a lot easier to test individual modules. Below follows  the modifications made.
+{{marvin:lab8-2.jpg?300}}
   * The constant tooCloseThreshold was initially set to be 20 cm, but this was not enough to take into account our modified Marvin which has a plate seperating the two lightsensors. There this constant was changed to 35 instead.
   * The constants in the thread RandonDrive.java has been change to accomdate more action, less waiting. We wanted Marvin to move longere before there were the tread ended. This caused Marvin to be more "exploring."
+**Video of Marvin running with default code**\\
+[[http://www.youtube.com/v/OuSbJ5-chXI|{{marvin:lab8-1.jpg}}]]\\
 ===RandomDrive===
@@ Line 27: / Line 31: @@
+====Modular Priority System====
+Bent writes this part
-http://java.sun.com/j2se/1.4.2/docs/api/java/lang/Thread.html#setDaemon(boolean)
+====Java Thread====
+The ''Behavior'' class extends ''Thread'' which makes it run as a thread in the JVM. The thread is configured to run as //daemon// which makes it automatically terminate together with the main thread(([[http://java.sun.com/j2se/1.4.2/docs/api/java/lang/Thread.html#setDaemon(boolean)]])).
-**Video and pictures**\\
-[[http://www.youtube.com/v/OuSbJ5-chXI|{{marvin:lab8-1.jpg}}]]\\
+====Threaded implementation of "Driving Towards Light"====
-{{marvin:lab8-2.jpg?300}}
+Bent writes this part
 **Video for "Drive towards light test"**\\
-[[http://www.youtube.com/v/ZX4FIDJu6a8|{{marvin:lab8-3.jpg}}]]
+[[http://www.youtube.com/v/6TijOeIbigk|{{marvin:lab8-3.jpg}}]]
+====Conclusion====
+The layered behavior model seems to work very well for the implementation of an autonomous roboot. We believe that with an added push sensor Marvin would be able to navigate in any room avoiding any obstacles and find the exit with lights.