checkpoint

[bachelor-thesis/written-stuff.git] / Ausarbeitung / roomba.tex

diff --git a/Ausarbeitung/roomba.tex b/Ausarbeitung/roomba.tex
index 279a6c2..f45e31d 100644 (file)
--- a/Ausarbeitung/roomba.tex
+++ b/Ausarbeitung/roomba.tex
@@ -105,10 +105,10 @@ However, robots of the Roomba 500 series are also easily controllable over a
 serial port, which provides a two-way communication at 5~V~\acs{TTL} levels over
 a 7-pin mini-\acs{DIN} connector, with a speed of either 19,200 or 115,200 Baud,
 in mode \acused{8N1} \ac{8N1} (\acl{8N1}). Over this serial port, the Roomba
-speaks a specified protocol, called the \acused{ROI}\definition{\acl{ROI}}
-(\acs{ROI})~\cite{irobot-oi}, which allows the user to interact with the robot's
-internal logic, reading its sensor values, and control its movements and
-cleaning behaviour.
+speaks a specified protocol, called the \acused{ROI}\definition{Roomba Open
+Interface} (\acs{ROI})~\cite{irobot-oi}, which allows the user to interact with
+the robot's internal logic, reading its sensor values, and control its movements
+and cleaning behaviour.
 
 After starting the communication with the Roomba by sending the \cmd{Start}
 command, the robot is in a state called \definition{Passive mode}. In this mode,