public void run() { Multiplexor chip = new Multiplexor(SensorPort.S4); while (true) { int targetLeft = ControlCentre.getTargetDriveLeftVal(); LCD.drawString(Integer.toString(targetLeft) + ",", 2, 1); switch (targetLeft) { case 0: chip.setMotors(0, 0, 0); break; case 4: chip.setMotors(0, 0, 0); break; case 1: chip.setMotors(1, 1, 0); break; case 2: chip.setMotors(1, 2, 0); break; case 3: chip.setMotors(1, 3, 0); break; case 5: chip.setMotors(-1, 1, 0); break; case 6: chip.setMotors(-1, 2, 0); break; case 7: chip.setMotors(-1, 3, 0); break; } int targetRight = ControlCentre.getTargetDriveRightVal(); LCD.drawString(Integer.toString(targetRight) + " L", 4, 1); switch (targetRight) { case 0: chip.setMotors(0, 0, 1); break; case 4: chip.setMotors(0, 0, 1); break; case 1: chip.setMotors(1, 1, 1); break; case 2: chip.setMotors(1, 2, 1); break; case 3: chip.setMotors(1, 3, 1); break; case 5: chip.setMotors(-1, 1, 1); break; case 6: chip.setMotors(-1, 2, 1); break; case 7: chip.setMotors(-1, 3, 1); break; } try { Thread.sleep(10); } catch (InterruptedException e) { } } }