-From our experience, the most important think in the development process was start working from a small functionality and test it. Earlier we know something wrong with the program and earlier we can fix and test it again. That will be good for the development of the next functionality.
-The difficulty in the development was in the testing phase. The reason is sometimes we got an error when running the program in robot (for example: sensor error) and it took so much time for loading all sensor working to test the robot. There was a time when the robot was crashed and need to be restarted which take some time from the development time.
\ No newline at end of file
+\subsubsection{Discussion}
+%development process, use of dsl/technologies, general lessons
+From our experience, the most important think in the development process was
+start working from a small functionality and test it. Earlier we know something
+wrong with the program and earlier we can fix and test it again. That will be
+good for the development of the next functionality. The difficulty in the
+development was in the testing phase. The reason is sometimes we got an error
+when running the program in robot (for example: sensor error) and it took so
+much time for loading all sensor working to test the robot. There was a time
+when the robot was crashed and need to be restarted which take some time from
+the development time.