\section{Development Plan}
The development plan is written following the spiral software development model
in which all requirements are divided into small iterations. Each of the
iterations will have an implementation phase, a testing phase, an analysis
phase, and a design phase. Furthermore, each of the iterations will have goals
and results. The iterations are listed in \autoref{tab:devit}.
The deadline of the iterations are listed in \autoref{tab:deadli}.

\begin{table}[h!]
	\centering
	\begin{tabu} to \linewidth{lX}
		\toprule
		Iteration & Description\\
		\midrule
		1 & Create a basic DSL for MarsRover's missions to use available
			sensors and actuators.\\
		2 & Test the DSL and make it works in MarsRover.\\
		3 & Create a functionality to use motors for the movement. The actions
			are drive forward, drive backward, stop, turn left, and turn
			right.\\
		4 & Create a functionality to use right sensor, left sensor, and back
			ultrasone sensor.\\
		5 & Create a functionality to keep the MarsRover in the planet. This
			will combine the use of the motors for the movement and the most
			safety critical sensors.\\
		6 & Implement a protocol for the communication between two bricks.\\
		7 & Implement color sensor and create a functionality to find lakes by
			color.\\
		8 & Implement front ultrasone sensor and create a functionality to find
			rocks.\\
		9 & Implement functionality to avoid rocks.\\
		10 & Implement measurement motor and create a functionality to measure
			lakes and rocks.\\
		11 & Implement left and right touch sensors. Also, create a
			functionality to push rocks.\\
		12 & Implement a functionality to be able to perform multiple missions
			in sequence.\\
		13 & Implement Gyro sensor and create a functionality to park MarsRover
			in the corner.\\
		14 & Implement a functionality to remember where the lakes are after
			the MarsRover found them.\\
		15 & Implement a functionality to play a sound for the viewer's
			notification.\\
		16 & Implement SLAM functionality and make the MarsRover be able to
			navigate with the map.\\
		\bottomrule
	\end{tabu}
	\caption{Spiral model iterations}\label{tab:devit}
\end{table}
\begin{table}[h!]
	\centering
	\begin{tabu} to \linewidth{llX}
		\toprule
		Deadline & Iterations & General Outputs\\
		\midrule
		9 Dec 2015 & Iteration 1--6 & MarsRover is able to wander and does not 
										fall of the planet.\\
		16 Dec 2015 & Iteration 7--10 & MarsRover is able to find and measure lakes 
										and rocks. MarsRover is also able to avoid rocks.\\
		23 Dec 2015 & Iteration 11--13 & MarsRover is able to push rocks and park in 
										a garage.\\
		6 Jan 2016 & Iteration 14--16 & MarsRover is able to play sound and navigate 
										with the map.\\
		\bottomrule
	\end{tabu}
	\caption{Deadlines}\label{tab:deadli}
\end{table}