NXT - Movimiento circular

import lejos.nxt.*;
import lejos.navigation.*;
public class centripeda{
public static void main (String args[]) throws InterruptedException{
    Pilot pilot = new Pilot(2.12f,6.06f,Motor.A, Motor.B);
    boolean start = false;
    int speed = 300;
    Button.ENTER.waitForPressAndRelease();
    while(!Button.ENTER.isPressed()){
        LCD.drawString("Spd: "+speed,1,1);
        if(Button.LEFT.isPressed()){
            Button.LEFT.waitForPressAndRelease();
            if(speed>300){
                speed=speed-30;
            }
        }if(Button.RIGHT.isPressed()){
            Button.RIGHT.waitForPressAndRelease();
            if(speed<900){
                speed=speed+30;
            }
        }
    }   pilot.setSpeed(speed);
    int vueltas = 3;
    Button.ENTER.waitForPressAndRelease();
    while(!Button.ENTER.isPressed()){
        LCD.drawString("Lap: "+vueltas,1,2);
        if(Button.LEFT.isPressed()){
            Button.LEFT.waitForPressAndRelease();
            if(vueltas>1){
                vueltas=vueltas-1;
            }
        }if(Button.RIGHT.isPressed()){
            Button.RIGHT.waitForPressAndRelease();
            if(vueltas<9){
                vueltas=vueltas+1;
            }
        }
    }
    Button.ENTER.waitForPressAndRelease();
    Motor.C.setSpeed(900);
    boolean notExit = true;
    pilot.rotate(360*vueltas,true);
    while (notExit){
        LCD.drawString("Turn: "+pilot.getTurnRatio(),1,3);
        if(pilot.getAngle()>(360*vueltas-15)){
            Motor.C.rotateTo(45);
            notExit=false;
        }
    }
}
}