import lejos.nxt.*;
import lejos.navigation.*;
import lejos.util.*;
 
/**
 * Test the turn() method 
 * Left botton enters 100's digit, right - 10's digit. 
 */
public class SteerTest 
{
 public static void main( String[] args)
 {
 Pilot pilot = new Pilot(2.25f, 4.8f, Motor.A, Motor.C); //units: inches
 ButtonCounter bc = new ButtonCounter();
 while(true)
 {
 bc.count("Turn Rate x10");
 int turnRate = 100 * bc.getLeftCount() + 10 * bc.getRightCount();
  bc.count("Angle x 10");
 int angle = 100 * bc.getLeftCount() + 10 * bc.getRightCount();
 pilot.steer(turnRate,angle); 
 } 
 }
}