diff --git a/.gitmodules b/.gitmodules
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+[submodule "features/common"]
+	path = features/common
+	url = ../mac.git
diff --git a/features/content/Feature_separation.ods b/features/content/Feature_separation.ods
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diff --git a/features/content/definition.tex b/features/content/definition.tex
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+\chapter{Definition}
+
+In the initial design step we decided on combining two motion systems.
+One is the suspended cable system, this can easily cover the large board.
+However it lacks precision and this is where a small SCARA comes in to action.
+This arm provides speed and accuracy. 
+And if the next bit of whiteboard is out of reach, the cable bot will move the arm to a new position.
+
+These two features are easy to define.
+Thus we have the SCARA and the cable system.
+So at this point we would just attach a marker to the arm and write on the board.
+However, now we cannot wipe text of the board.
+So another feature would be some toolchanger that can switch to the wiper.
+And, offcourse, later back to the marker, posibly with a different color.
+
+
+This brings us to the following features:
+\begin{itemize}
+\item SCARA
+\item Cable system
+\item Toolchange
+\item Wiper
+\end{itemize}
diff --git a/features/content/separation.tex b/features/content/separation.tex
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+++ b/features/content/separation.tex
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+\chapter{Separation of Concerns}
+\label{chap:separation}
+We have an initial design and in this step we will define features and subsystems.
+To structure this process we will use a tiny bit of the RobMoSys approach.
+With that we will define the mission, tasks, skills, functions and subsystems.
+The subsystem combines some layers of RobMoSys as they are to specific for the scope of this thesis.
+
+\section{RobMoSys}
+The mission is clear and has already been stated before.
+The system shall be able to write a tweet on a whiteboard.
+\autoref{fig:robmosys} shows how the mission organized.
+This separation is not created to be the most optimal as it is based on our initial design.
+The three skills of move marker, move wiper and move carriage are redundant as they all have movement in the same plane.
+One could say that this overcomplicates the design.
+However, we chose for some complexity in the design, which creates dependency between subsystems, such that the design method can be tested.
+
+\begin{figure*}
+    \centering
+    \includegraphics[width=0.8\paperwidth]{graphics/robmosys.pdf}
+    \caption{Separation of the mission into tasks, skills, functions and subsystems based on a simplification of RobMoSys.}
+    \label{fig:robmosys}
+\end{figure*}
+
+RobMoSys creates a top-down approach which results in the different subsystems.
+The design method specifies that we want to implement feature by feature.
+From \autoref{fig:robmosys} we can conclude that each step in the graph represents a sub-feature.
+It might be a piece of hardware, control law or interface, they can all be classified as features of some sort.
+Furthermore, it automatically generates the dependency tree as well.
+As we cannot write a character somewhere on the board if we cannot move the marker.
+
+\section{Feature Definition and Dependencies}
+In the previous section we discussed that we have loads of sub-features.
+We could implement all these features one by one.
+But as some of them have single dependencies they could be combined.
+The function 'Move wiper on board' is directly linked to the skill 'Wipe area' and could easily combined.
+Especially as the skill is a direct test case for the function and as test cases are already required this is a valid optimization.
+
+\section{Feature specifications}
+The specifications that are listed in the system specifications document have to be distributed among the features.
+We have grouped some specifications as they influence the same feature-group.
+
+\subsection{Reach}
+The first grouping is for the reach of the robot.
+From the specifications document we find three specifications which influence the possible position of the carriage:
+\begin{itemize}
+    \item The Writer shall be able to write at least 50 characters per line.
+    \item The Writer shall be able to write at least 5 lines of text.
+    \item If the Writer is not wiping or writing then the Writer shall not obstruct the view of the whiteboard.
+\end{itemize}
+The first two specify the minimum reach of the carriage.
+The third specifies that the carriage has to move out of the way.
+
+\autoref{fig:reach} shows the sub-features that cover the behavior of the carriage.
+We have to take these three into account when we will develop these sub-features.
+
+\begin{marginfigure}
+    \includegraphics[width=0.8\linewidth]{graphics/reach.pdf}
+    \caption{Sub-features that are responsible for reach related specifications}
+    \label{fig:reach}
+\end{marginfigure}
+
+\subsection{Character Writing}
+The sub-systems shown in \autoref{fig:char} are responsible for getting the characters on the board.
+The character writing specifications are given as:
+\begin{itemize}
+    \item The Writer shall plot characters with a size that is readable from 4 meters for a person with good eyesight.
+    \item The Writer shall plot in a regular used font with corresponding character spacing.
+    \item While writing, the Writer shall have a writing speed of at least 1 character per second.
+\end{itemize}
+The later one covers the writing speed.
+The speed does not only depend on the time required for a single char.
+It also depends on moving to the position of the next character.
+This is overlaps with the grouping for the reach specification as described in the previous subsection and can be seen in \autoref{fig:reach}
+So we will split this into the following sub-specifications:
+\begin{itemize}
+    \item While writing, the SCARA shall have a writing speed of at least 1.5 characters per second.
+    \item When the Carriage/base of the SCARA is at a static position, the SCARA shall be able to write at least 3 characters at that position.
+    \item When the SCARA finished writing at their current position, the Carriage shall move the SCARA to it's next position where it can write the subsequent characters.
+    \item When the SCARA has to be moved to a new position, the Carriage shall perform this movement within 1 second.
+\end{itemize}
+
+\begin{marginfigure}
+    \includegraphics[width=0.8\linewidth]{graphics/char.pdf}
+    \caption{Sub-features that are responisible for character writing specifications}
+    \label{fig:char}
+\end{marginfigure}
+
+\subsection{Tooling}
+For the system to be able to switch from writing to wiping, there must be some toolchanging.
+The general idea is that the end-effector can hold a tool and for a marker it shall be able to press it on the board.
+
+
diff --git a/features/content/specification.tex b/features/content/specification.tex
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+++ b/features/content/specification.tex
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+\chapter{Specifications}
+This chapter will specify each feature more precisely 
diff --git a/features/feature_definition.tex b/features/feature_definition.tex
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--- /dev/null
+++ b/features/feature_definition.tex
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+\documentclass[final,english,titlepage,nomath]{siltex-report}
+\include{common/texfiles/preamble}
+
+\title{Feature Definition}
+%\subtitle{Thesis Proposal}
+\course{}
+\faculty{\large Electrical Engineering, Mathematics and Computer Science}
+%\supervisor{%
+%	Dr. ir. J.F. Broenink \\
+%	Ir. T.G. Broenink
+%}
+\author{%
+    Wouter Horlings
+}
+
+\begin{document}
+\maketitle
+\makerro
+
+\tableofcontents
+
+\include{common/texfiles/acronyms}
+
+%\include{introduction}
+\include{separation}
+\include{definition}
+
+\printbibliography
+\end{document}
diff --git a/features/graphics/char.tex b/features/graphics/char.tex
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--- /dev/null
+++ b/features/graphics/char.tex
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+\documentclass{standalone}
+\usepackage{tikz}
+\usetikzlibrary {arrows.meta,graphs,graphdrawing} \usegdlibrary {layered}
+
+\begin{document}
+
+\begin{tikzpicture}[nodes={text height=.7em, text width=1.8cm, align=center,
+draw=black!20, thick, fill=white, font=\footnotesize},
+>={Stealth[round,sep]}, rounded corners, semithick]
+
+\graph [layered layout, level distance=1.5cm, sibling sep=.5em, sibling distance=1.5cm, sweep crossing minimization] {
+
+    "Write a char at position" -> { "Move marker on board", "Lift Marker" };
+    {"Lift Marker", "Move marker on board"} -> "SCARA";
+};
+
+ %   \graph [layered layout] {
+ %       1 -> 2 -> 3 -> 4;
+ %   };
+
+
+
+\end{tikzpicture}
+\end{document}
diff --git a/features/graphics/reach.tex b/features/graphics/reach.tex
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--- /dev/null
+++ b/features/graphics/reach.tex
@@ -0,0 +1,16 @@
+\documentclass{standalone}
+\usepackage{tikz}
+\usetikzlibrary {arrows.meta,graphs,graphdrawing} \usegdlibrary {layered}
+
+\begin{document}
+
+\begin{tikzpicture}[nodes={text height=.7em, text width=2.5cm, align=center,
+draw=black!20, thick, fill=white, font=\footnotesize},
+>={Stealth[round,sep]}, rounded corners, semithick]
+
+\graph [layered layout, level distance=1.5cm, sibling sep=.5em, sibling distance=1.5cm, sweep crossing minimization] {
+    "Move to position" -> "Move carriage" -> "Carriage";
+};
+
+\end{tikzpicture}
+\end{document}
diff --git a/features/graphics/robmosys.tex b/features/graphics/robmosys.tex
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index 0000000..e44f30e
--- /dev/null
+++ b/features/graphics/robmosys.tex
@@ -0,0 +1,38 @@
+\documentclass{standalone}
+\usepackage{tikz}
+\usetikzlibrary {arrows.meta,graphs,graphdrawing} \usegdlibrary {layered}
+
+\begin{document}
+
+\begin{tikzpicture}[nodes={text height=.7em, text width=1.8cm, align=center,
+draw=black!20, thick, fill=white, font=\footnotesize},
+>={Stealth[round,sep]}, rounded corners, semithick]
+
+\graph [layered layout, level distance=1.5cm, sibling sep=.5em, sibling distance=1.5cm, sweep crossing minimization] {
+    "Mission" -> "Task" -> "Skill" -> "Function" -> "Subsystem";
+
+    "Draw a tweet on a board" -> "Writing";
+    "Writing" -> { "Write a char at position", "Hold Marker", "Move to position" };
+    "Write a char at position" -> { "Move marker on board", "Lift Marker" };
+    "Hold Marker" -> "Switch Tools";
+    "Move marker on board" -> "SCARA";
+    "Lift Marker" -> "End-effector";
+
+    "Draw a tweet on a board" -> "Wiping";
+    "Wiping" -> { "Wipe Area", "Hold Wiper", "Move to position" };
+    "Hold Wiper" -> "Switch Tools";
+    "Move Wiper on Board" -> SCARA;
+    "Wipe Area" -> "Move Wiper on Board";
+
+    "Move to position" -> "Move carriage" -> "Carriage";
+    "Switch Tools" -> {"End-effector", "SCARA"};
+};
+
+ %   \graph [layered layout] {
+ %       1 -> 2 -> 3 -> 4;
+ %   };
+
+
+
+\end{tikzpicture}
+\end{document}
diff --git a/features/robmosys.dia b/features/robmosys.dia
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