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diff --git a/marsrover/document/dev.tex b/marsrover/document/dev.tex
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@@ -1,32 +1,72 @@
 \section{Development Plan}
-Iteration 1: Create a basic DSL for MarsRover's missions to use available sensors and actuators
-
-Iteration 2: Test the DSL and make it works in MarsRover
-
-Iteration 3: Create a functionality to use motors for the movement. They are: drive forward, drive backward, stop, turn left, and turn right.
-
-Iteration 4: Create a functionality to use right sensor, left sensor, and back ultrasone sensor
-
-Iteration 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
-
-Iteration 6: Implement a protocol for the communication between two bricks
-
-Iteration 7: Implement color sensor and create a functionality to find lakes by color
-
-Iteration 8: Implement front ultrasone sensor and create a functionality to find rocks
-
-Iteration 9: Implement functionality to avoid rocks
-
-Iteration 10: Implement measurement motor and create a functionality to measure lakes and rocks
-
-Iteration 11: Implement left and right touch sensors. Also, create a functionality to push rocks
-
-Iteration 12: Implement a functionality to be able to perform multiple missions in sequence
-
-Iteration 13: Implement Gyro sensor and create a functionality to park MarsRover in certain position
-
-Iteration 14: Implement a functionality to remember where the lakes are after the MarsRover found them
-
-Iteration 15: Implement a functionality to play a sound for the viewer's notification
-
-Iteration 16: Implement SLAM functionality and make the MarsRover be able to navigate with the map
\ No newline at end of file
+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 and their deliverables are listed in
+\autoref{tab:devit}. The schedule for finishing iterations are listed in
+\autoref{tab:deadli}. On the 6th of January the must-have should be finished
+and if they are we try to complete as many iterations as possible.
+\begin{table}[h!]
+	\centering
+	\begin{tabu} to \linewidth{llX}
+		\toprule
+		Deadline & Iterations\\
+		\midrule
+		9 Dec 2015 & 1--2\\
+		16 Dec 2015 & 3--5\\
+		23 Dec 2015 & 6--9\\
+		6 Jan 2015 & 10--11\\
+		13 Jan 2015 & Demo\\
+		\bottomrule
+	\end{tabu}
+	\caption{Deadlines}\label{tab:deadli}
+\end{table}
+\begin{table}[h!]
+	\centering
+	\begin{tabu} to \linewidth{rlXX}
+		\toprule
+		It. & Req. & Description & Deliverables\\
+		\midrule
+		1 & NR1 & Create a DSL for MarsRover's missions to use available
+			sensors and actuators. & \texttt{TaskDSL.xtext}\\
+		2 & ER3 & Implement diagnostic functions that print on the \emph{LCD}.
+			& A \emph{LCD} class that prints to the \emph{LCD} screen.\\
+		3 & - & Implement functions in the code generation for basic motor the
+			motor actions: forward, backward, measure rock, measure lake and
+			wait. & Code
+			generation for motors\\
+		4 & - & Implement functions in the code generation for communicating
+			the sensors from the slave to the master. & Functions in the master
+			program to read the slave's sensors.\\
+		5 & - & Create functionality for sensor values and determine the
+			treshholds manually. & Code generation for sensors and threshhold
+			constants.\\
+		6 & CR1 & Create functionality to keep the MarsRover in the planet. &
+			A generatable behaviour to stay on the planet.\\
+		7 & MR3 & Create functionality for not bumping into rocks. & A
+			generatable behaviour to not bump into rocks.\\
+		8 & MR1 & Create functionality to find lakes. & A generatable mission
+			to find lakes.\\
+		9 & MR6 & Create functionality to perform missions in sequence. & A
+			generatable main program that performs missions.\\
+		10 & MR2, MR4& Create functionality to find rocks. & A generatable
+			mission to find rocks.\\
+		11 & MR5 & Create functionality to push rocks and detect when the
+			robots is pushing. & A generatable behaviour for pushing.\\
+		12 & MR7 & Create functionality to find the parking space. & A
+			generatable behaviour that can find the parking space.\\
+		13 & MR8, ER1 & Create functionality to map the environment and to
+			localize. & A generatable behaviour that can map while
+			performing.\\
+		14 & ER2 & Create functionality to play sounds. & Add a generatable
+			function for playing sounds.\\
+		15 & NR3, NR4 & Create functionality to calibrate the sensor
+			treshholds. & A generatable function to calibrate the sensors.\\
+		16 & NR5 & Create functionality that when the robot encounters bugs it
+			can restart itself. & Functionality in the main program to do so.\\
+		17 & - & Speed up the behaviour of the robot within safety limits.\\
+		\bottomrule
+	\end{tabu}
+	\caption{Spiral model iterations}\label{tab:devit}
+\end{table}