View difference between Paste ID: rBJECCRk and J2hnDdhr

 package com.sherolchen.msp;
 
 import lejos.nxt.NXTRegulatedMotor;
 
 /**
  * A simple interface to a KTong's ARM!!! MWAHAHAHA
  * But we can make it better...we have the technology
  */
 
 public class NXTArmAndGripper {
 
 	// Member variables used to keep track of various motors
 	private NXTRegulatedMotor turningMotor;
 	private boolean turnerReversed = false;
 	private NXTRegulatedMotor liftingMotor;
 	private boolean lifterReversed = false;
 	private NXTRegulatedMotor grippingMotor;
 
 	// Constructor which assumes an orientation to the various motors
 	public NXTArmAndGripper(NXTRegulatedMotor turner,
 							NXTRegulatedMotor lifter,
 							NXTRegulatedMotor gripper) {
 		turningMotor = turner;
 		liftingMotor = turner;
 		grippingMotor = gripper;
 		// Assumes gripper starts off in closed position.
 		grippingMotor.resetTachoCount();
 	}
 
 	// Constructor which does not assume an orientation to the various motors
 	public NXTArmAndGripper(NXTRegulatedMotor turner, boolean turnReverse,
 							NXTRegulatedMotor lifter, boolean liftReverse,
 							NXTRegulatedMotor gripper, boolean gripReverse) {
 		turningMotor = turner;
 		turnerReversed = turnReverse;
 		liftingMotor = lifter;
 		lifterReversed = liftReverse;
 		grippingMotor = gripper;
 		// Assumes gripper starts off in closed position
 		grippingMotor.resetTachoCount();
 	}
 
 	// Various methods used to control motors (function is obvious form name)
 	// The methods are merely wrappers around functions provided by the motor
 	// control functions in leJOS
 
 	public void turnLeft() {
 		if (turnerReversed) {
 			turningMotor.backward();
 		} else {
 			turningMotor.forward();
 		}
 	}
 
 	public void turnRight() {
 		if (turnerReversed) {
 			turningMotor.forward();
 		} else {
 			turningMotor.backward();
 		}
 	}
 
 	public void stopTurning() {
 		turningMotor.stop();
 	}
 
 	public void liftUp() {
 		if (lifterReversed) {
 			liftingMotor.forward();
 		} else {
 			liftingMotor.backward();
 		}
 	}
 
 	public void liftDown() {
 		if (lifterReversed) {
 			liftingMotor.forward();
 		} else {
 			liftingMotor.backward();
 		}
 	}
 
 	public void stopLifting() {
 		liftingMotor.stop();
 	}
 
 	public void openGripper() {
 		// TODO: Still need to calibrate
 		grippingMotor.rotateTo(0, true);
 	}
 
 	public void closeGripper() {
 		// TODO: Still need to calibrate
 		grippingMotor.rotateTo(4, true);
 	}
 }