mart/ev3/ex1/explanation.txt

   1 The robot is programmed following the subsumption architecture where an
   2 arbitrator controls a list of behaviours. The arbitrator asks all the
   3 behaviours if they need control and hands the control to the behaviour that
   4 wants it and has the highest priority.
   5
   6 A general avoidance behaviour is the base for all other avoidance behaviours
   7 that interact with different sensors. All sensors are calibrated at first to be
   8 able to cope with different environment.
   9
  10 All the feedback and output is printed on the LCD display. The LCDPrinter class
  11 takes care of the input and as they are queued a different thread prints them
  12 on the LCD making sure the lines are wrapped and all the text is displayed.
  13
  14 The state of the robot is expressed by sound files that are played. The sound
  15 files can be generated using espeak and SoX.