// Parses integer messages private static void parseMessage(int message) { int reset = message & 1; int kick = (message >>> 1) & 1; int motor_dleft = (message >>> 2) & 7; int motor_dright = (message >>> 5) & 7; int motor_sleft = (message >>> 8) & 511; int motor_sright = (message >>> 17) & 511; ControlCentre.setKickState((kick != 0)); ControlCentre.setTargetSteeringAngleLeft(motor_sleft); ControlCentre.setTargetSteeringAngleRight(motor_sright); ControlCentre.setTargetDriveLeftVal(motor_dleft); ControlCentre.setTargetDriveRightVal(motor_dright); }