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) {
}
}
}
