Display class

package com.jcdj1996.final03;

import java.awt.Color;
import java.awt.Dimension;
import java.awt.Graphics;
import java.awt.GridLayout;
import java.awt.event.ActionEvent;
import java.awt.event.ActionListener;
import javax.swing.*;
import javax.swing.event.ChangeEvent;
import javax.swing.event.ChangeListener;

import lejos.nxt.Sound;

public class Display implements ActionListener, ChangeListener{
    static Robot r1 = new Robot();
    static MoveSet m1 = new MoveSet();
    static MyPanel p1 = new MyPanel();
    static JFrame panel;
    static JPanel contentPane;  //holds all other JPanels
    static JPanel buttons;  //preprogrammed moves
    static JPanel sliders;  //speed and steering
    static JButton figure8; //triggers figure8
    static JButton fireButton;  //fire from GUI
    static JButton horn;    //Play horn
    static JSlider speedSlide;  //Speed Slider
    static JSlider steerSlide;  //Steering Slider

    public void init(){

        panel = new JFrame("Rover Controller");
        panel.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);

        // the box layout puts objects in a vertical column
        contentPane = new JPanel();
        contentPane.setLayout(new BoxLayout(contentPane,BoxLayout.PAGE_AXIS));
        contentPane.setBorder(BorderFactory.createEmptyBorder(20,20,20,20));
        contentPane.setBackground(Color.blue);

        // Add content pane to frame
        panel.setContentPane(contentPane);
        contentPane.setLayout(new GridLayout(1,0));

        buttons = new JPanel();
        buttons.setLayout(new BoxLayout(buttons,BoxLayout.PAGE_AXIS));
        buttons.setBorder(BorderFactory.createEmptyBorder(20,20,20,20));
        buttons.setBackground(Color.WHITE);
        buttons.setLayout(new GridLayout(0,1));
        contentPane.add(buttons);

        sliders = new JPanel();
        sliders.setLayout(new BoxLayout(sliders,BoxLayout.PAGE_AXIS));
        sliders.setBorder(BorderFactory.createEmptyBorder(20,20,20,20));
        sliders.setBackground(Color.GREEN);
        sliders.setLayout(new GridLayout(0,1));
        contentPane.add(sliders);

        contentPane.add(new MyPanel()); //add paint surface (far right)

        // Size and then display the window.
        panel.setSize(800,500);
        panel.setLocation(300,100);
        panel.setVisible(true);

        //Buttons
        figure8 = new JButton("Figure Eight");
        buttons.add(figure8);
        figure8.addActionListener(this);

        fireButton = new JButton("Fire (trigger)");
        buttons.add(fireButton);
        fireButton.addActionListener(this);

        horn = new JButton("Horn (Button 3)");
        horn.addActionListener(this);
        buttons.add(horn);

        //Sliders
        speedSlide = new JSlider(JSlider.VERTICAL, -720,720, 0);
        speedSlide.addChangeListener(this);

        speedSlide.setMajorTickSpacing(180);
        speedSlide.setPaintTicks(true);
        speedSlide.setPaintLabels(true);
        speedSlide.setSnapToTicks(true);
        speedSlide.setName("Speed");
        sliders.add(speedSlide);

        steerSlide = new JSlider(JSlider.HORIZONTAL,-10, 10, 0);
        steerSlide.addChangeListener(this);

        steerSlide.setMajorTickSpacing(1);
        steerSlide.setPaintTicks(true);
        steerSlide.setPaintLabels(false);
        steerSlide.setSnapToTicks(true);
        sliders.add(steerSlide);
    }

    public void actionPerformed(ActionEvent arg0) {
        if(arg0.getSource()==figure8)
        {
            m1.figure8();   //activate figure 8
        }
        if(arg0.getSource()==fireButton)    //fire button is pressed
        {
            r1.fire();
        }
        if(arg0.getSource() == horn)
        {
            Sound.playTone(500, 500);   //play tone from robot speaker
        }
    }
    public void stateChanged(ChangeEvent a) {
        if(a.getSource()==speedSlide)
        {
            r1.setSpeed(speedSlide.getValue()*-1);      //drive motor is reversed, value must be flipped
        }
        if(a.getSource()==steerSlide)
        {
            r1.turn(steerSlide.getValue()); //turn to the value of the steering slider
        }
    }

}
class MyPanel extends JPanel implements ActionListener{
    private static final long serialVersionUID = 1L;
    Timer timer1 = new Timer(10,this);
    public static int xpos=45,ypos=45;
    public MyPanel() {
        setBorder(BorderFactory.createLineBorder(Color.black));
        timer1.start();
    }

    public Dimension getPreferredSize() {
        return new Dimension(250,200);
    }

    public void paintComponent(Graphics g) {
        super.paintComponent(g);
        //JStick graphics
        g.setColor(Color.BLACK);
        g.fillRect(0, 0, 1000, 1000);
        if(final03.JStickAvail==false)
        {
            g.setColor(Color.BLUE);
            g.drawString("No Joystick Found", 15,45);
        }else{
            g.setColor(Color.WHITE);
            g.drawLine(50,0,50,100);    //grid for JS position
            g.drawLine(0,50,100,50);
            g.setColor(Color.RED);
            g.fillOval(xpos, ypos, 10, 10); //circle for JS position
            g.drawString("Joystick input", 15, 111);
        }
    }

    public void actionPerformed(ActionEvent arg0) {
        repaint();  //repaint on timer
    }
}