-is suppressed. To be able to let the robot finish some critical actions (eg.\
-turning a specific number of degrees) we need some changes to the standard
-architecture. More concretely we change the standard \texttt{suppressed}
-boolean to a three state variable.
-
-When such a task is started and said behaviour does not ask for control the
-behaviour can still finish if it is not interrupted. For example when the left
-light sensor detects that the robot is driving of the planet a right turn of
-$90$ degrees may be initiated. This right turn will be completed even when the
-left light sensor is not detecting a dangerous value. The suppressed flag can
-take three states. \texttt{IDLE}, \texttt{IN\_ACTION} and \texttt{SUPPRESSED}.
-By default all behaviours have the \texttt{IDLE} state. When a behaviour is
-started the state will change to \texttt{IN\_ACTION} and when a behaviour
-finished the state will be reset to \texttt{IDLE}. When a behaviour needs to be
-interrupted the state is set to \texttt{SUPPRESSED} and since the behaviour is
-always monitoring the state it will shutdown as soon as possible and reset the
-state.
+is suppressed. The entire action will always finish, however when the flag is
+set all loops are terminated immediatly leaving only atomic actions which are
+executed almost always asychronously. Therefore the action will stop almost
+immediatly after suppress is called.