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 # Software description
 
-Here a general overview of the software used in the ADC competition is presented, including both the real and simulated robots. The links to a more detailed description of each one of the parts is also included.
+Here a general overview of the software used in the ADC competition is presented, including both the real and simulated robots. The links to a more detailed description of each one of the parts are also included.
 
 Through out all the software description, there will mainly exist three types of software modules that will be color marked to easily distinguish them:
 
-* **Base modules**: these are the software modules provided by IRI that have to used as they are, not being able to modify them of use an alternative implementation. These modules are marked in red in the following description.
+* **Base modules**: these are the software modules provided by IRI that have to be used as they are, not being able to modify them or use an alternative implementation. These modules are marked in red in the following description.
 
 * **Optional modules**: these are the other software modules provided by IRI as an example of a simple and basic implementation of all the functionalities required for the ADC competition. These modules may be enough to complete very simple tasks, but in order to complete the ADC competition challenges you will need to upgrade them or use your own software modules. These modules are marked in green in the following diagrams.