View difference between Paste ID: tE9mrJvD and XpAsSWdh

 package com.sherolchen.msp;
 
 //A number of imports needed for manual control
 import lejos.nxt.Button;
 import lejos.nxt.ButtonListener;
 import lejos.nxt.SensorPort;
 import lejos.nxt.SensorPortListener;
 import lejos.nxt.Motor;
 import lejos.nxt.LCD;
 import lejos.nxt.TouchSensor;
 import com.sherolchen.msp.NXTArmAndGripper;
 
 /**
 * KTong's Robotic Arm
 * -------------------
 * This is from the laboratory of Kevin, the "mad scientist"
 * LOG
 * Day 1: The arm got built really fast. This LEGO company makes things really
 *  easy. Fortunate for me since the storm is starting to roll in.
 * Day 4: Got Eclipse and leJOS set up today. Took me a bit as snow is starting
 *  to build up outside and my fingers are getting rather cold. The weather
 *  forecast looks good for tomorrow though. Looking forward to a sunny day.
 * Day 8: IT'S ALIVE!...sort of. It moves...sort of. I'll figure it out later.
 *  The weather forecast took a turn for the worst so I got to start getting
 *  ready for the snow storm of the year apparently.
 * Day 10: Car broke down. No one in sight. Luckily I have some food rations
 *  saved up from the last storm. They are past the expiration date but they
 *  should be fine I think.
 *
 *  I haven't had much time to work on my arm but at least I added a touch
 *  sensor.
 * Day 17: Rations are dwindling. I can bearly tipe. It'sss getting rewally cold
 *  iin the ccabin. And the arm issn't really werking write now.
 * Day 3?: mwahahahaha HAHAHAAA HAHAHAHAHA ... ** cough **
 */
 public class ArmManualControl {
 
 	/**
 	 * A number of variables used for my robotic arm...mwahahahaha
 	 */
 	// Determines which options to display first
 	private static boolean inTurningMode = true;
 	// The instance of the arm used to control the arm
 	private static NXTArmAndGripper myArm = new NXTArmAndGripper(Motor.B, Motor.C, Motor.A);
 	// Constant variables used for displaying the menu options on the NXT
 	private final static int NUM_CHAR_LCD_X = 16;
 	private final static int NUM_CHAR_LCD_Y = 8;
 	private final static String TURN_MODE = "TURN";
 	private final static String LEFT_OPTION = "LEFT";
 	private final static String RIGHT_OPTION = "RIGHT";
 	private final static String LIFT_MODE = "LEFT";
 	private final static String UP_OPTION = "UP";
 	private final static String DOWN_OPTION = "DOWN";
 
 	/**
 	 * Function: main(String[] args)
 	 * Description:
 	 * The main code the sets up the listeners for the buttons on the NXT
 	 * brick and the touch sensor and commands the arm to react accordingly
 	 */
 	public static void main(String[] args) throws Exception {
 
 		// The initial display screen to wait for the user to push a button
 		System.out.println("Kevin the Mad Scientist...");
 		System.out.println("Press any key to start manual control of arm.");
 		Button.waitForAnyPress();
 
 		// Displays the first menu option
 		LCD.setAutoRefresh(false);
 		updateLCDDisplay();
 
 		// Sets up the listener for the Enter button on the NXT brick
 		Button.ENTER.addButtonListener( new ButtonListener() {
 			// Called every time the enter button is pressed
 			// Toggles between Turning and Lifting and updates the display
 			public void buttonPressed( Button button) {
 				if (inTurningMode) {
 					inTurningMode = false;
 				} else {
 					inTurningMode = true;
 				}
 				updateLCDDisplay();
 			}
 			// Called every time the enter button is released
 			// Shouldn't do anything
 			public void buttonReleased( Button button) {
 				updateLCDDisplay();
 			}
 		}
 		);
 
 		// Sets up the listener for the Left button on the NXT brick
 		Button.LEFT.addButtonListener( new ButtonListener() {
 			// Called every time the left button is pressed
 			// Depending on the mode, either turns left or lifts up
 	        public void buttonPressed( Button button) {
 	        	if (inTurningMode) {
 		        	myArm.liftDown();
 	        	} else {
 	        		myArm.liftUp();
 	        	}
 	        }
 			// Called every time the enter button is released
 			// Should stop the turning motor or lifting motor
 	        public void buttonReleased( Button button) {
 	        	if (inTurningMode) {
 		        	myArm.stopTurning();
 	        	} else {
 	        		myArm.stopLifting();
 	        	}
 	        }
 	      }
 	    );
 
 		// Sets up the listener for the Right button on the NXT brick
 		Button.RIGHT.addButtonListener( new ButtonListener() {
 			// Called every time the right button is pressed
 			// Depending on the mode, either turns right or lifts down
 	        public void buttonPressed( Button button) {
 	        	if (inTurningMode) {
 		        	myArm.turnLeft();
 	        	} else {
 	        		myArm.liftUp();
 	        	}
 	        }
 			// Called every time the enter button is released
 			// Should stop the turning motor or lifting motor
 	        public void buttonReleased( Button button) {
 	        	if (inTurningMode) {
 		        	myArm.stopTurning();
 	        	} else {
 	        		myArm.stopLifting();
 	        	}
 	        }
 	      }
 	    );
 
 		// Sets up the listener for the touch sensor
 		// Assumes that the touch sensor is connected to port S4
 		SensorPort.S4.addSensorPortListener(new SensorPortListener() {
 			// This function gets called everytime touch sensor changes state
 			public void stateChanged(SensorPort aSource, int aOldValue, int aNewValue) {
 				if (aOldValue > aNewValue) {
 					myArm.openGripper();
 				} else {
 					myArm.closeGripper();
 				}
 			}
 		}
 		);
 
 		// Essentially waits until finished playing
 		Button.ESCAPE.waitForPressAndRelease();
 
 		// Closing screen. Say's goodbye, waits for a bit, and ends
 		LCD.clear();
 		System.out.println("Goodbye...");
 		LCD.refresh();
 		Thread.sleep(1000);
 	}
 
 	/**
 	 * Function: updateLCDDisplay()
 	 * Description:
 	 * Updates the LCD display to show the mode in which the controls are in.
 	 * If inTurningMode is true, the LCD displays the turning options.
 	 * Otherwise, the LCD displays the lifting options.
 	 */
 	public static void updateLCDDisplay() {
 		LCD.clear();	// Clears the LCD and gets it ready to be written to
 		if (inTurningMode) { // In turning mode so should display turn options
 			LCD.drawString(TURN_MODE, NUM_CHAR_LCD_X/2 - TURN_MODE.length()/2,
 									  NUM_CHAR_LCD_Y/2);
 			LCD.drawString(LEFT_OPTION, 0, NUM_CHAR_LCD_Y-1);
 			LCD.drawString(RIGHT_OPTION, NUM_CHAR_LCD_X-RIGHT_OPTION.length(),
 										 NUM_CHAR_LCD_Y-1);
 		} else { // Not in turning mode so should display lift options
 			LCD.drawString(LIFT_MODE, NUM_CHAR_LCD_X/2 - LIFT_MODE.length()/2,
 					  				  NUM_CHAR_LCD_Y/2);
 			LCD.drawString(UP_OPTION, 0, NUM_CHAR_LCD_Y-1);
 			LCD.drawString(DOWN_OPTION, NUM_CHAR_LCD_X-DOWN_OPTION.length(),
 						 			     NUM_CHAR_LCD_Y-1);
 		}
 		LCD.refresh();	// Actually updates the screen to show what was drawn
 	}
 
 }