// constructors public OdometerCorrection_v1( RobotCtrl robotCtrl, LineSensor lineSensorL, LineSensor lineSensorR, int odoCorrectionRefresh) { this.robotCtrl = robotCtrl; this.odometer = robotCtrl.getOdometer(); this.lineSensorL = lineSensorL; this.lineSensorR = lineSensorR; this.odoCorrectionTimer = new Timer(odoCorrectionRefresh, this); }