import lejos.nxt.*;

public class Group7Robot {
	public static void main(String[] args) {
		// MOTORS
		NXTRegulatedMotor leftMotor = Motor.A;
		NXTRegulatedMotor rightMotor = Motor.C;
		NXTRegulatedMotor clawMotor = Motor.B;

		// SENSORS
		FilteredLightSensor lightSensor = new FilteredLightSensor(SensorPort.S1);
		FilteredUltrasonicSensor frontUltrasonicSensor = new FilteredUltrasonicSensor(SensorPort.S2);
		FilteredUltrasonicSensor rearUltrasonicSensor = new FilteredUltrasonicSensor(SensorPort.S3);


		// HELPER THREADS
		Odometer odometer = new Odometer(leftMotor, rightMotor, lightSensor);
		Navigation navigation = new Navigation(leftMotor, rightMotor, odometer);

		// CONTROLLERS
		LocalizationController localization = new LocalizationController(navigation, null, frontUltrasonicSensor, rearUltrasonicSensor);

		// LOGIC
		odometer.start();
		navigation.start();

		Button.waitForAnyPress();

		// logic for presentation vid
		clawMotor.setSpeed(100);
		clawMotor.rotate(-120);
		clawMotor.flt();
		navigation.forward(60);
		navigation.waitUntilDone();
		clawMotor.rotate(120);
		clawMotor.flt();
		navigation.forward(-60);
		navigation.waitUntilDone();

		// EXIT
		Button.waitForAnyPress();
		System.exit(0);
	}
}

@@ -247,25 +247,40 @@
 ered
-LightSensor light
+UltrasonicSensor frontUltrasonic
 Sens
@@ -300,13 +300,18 @@
 ered
-Light
+Ultrasonic
 Sens
@@ -348,37 +348,36 @@
 ltrasonicSensor 
-front
+rear
 UltrasonicSensor
@@ -438,39 +438,101 @@
 ered
-UltrasonicSensor rearUltrasonic
+LightSensor lightSensor = new FilteredLightSensor(SensorPort.S3);%0A%09%09FilteredColorSensor color
 Sens
@@ -544,34 +544,29 @@
 new Filtered
-Ultrasonic
+Color
 Sensor(Senso
@@ -576,13 +576,63 @@
 rt.S
-3
+4
 );%0A%0A
+%09%09// ACTUATORS%0A%09%09Claw claw = new Claw(clawMotor);%0A
 %0A%09%09/
@@ -1003,299 +1003,8 @@
 );%0A%0A
-%09%09Button.waitForAnyPress();%0A%0A%09%09// logic for presentation vid%0A%09%09clawMotor.setSpeed(100);%0A%09%09clawMotor.rotate(-120);%0A%09%09clawMotor.flt();%0A%09%09navigation.forward(60);%0A%09%09navigation.waitUntilDone();%0A%09%09clawMotor.rotate(120);%0A%09%09clawMotor.flt();%0A%09%09navigation.forward(-60);%0A%09%09navigation.waitUntilDone();%0A%0A
 %09%09//

Update main() code