import lejos.nxt.*;

/**
 * A more object - oriented code.  the main method just starts the program
 * @author Roger
 */
public class RotationTest
{

    public static void main(String args[])
    {
        LCD.drawString("Rotation", 0, 0);//display program name before running
        Button.waitForPress();
        LCD.clear();
        RotationTest robot = new RotationTest();
        robot.go();// create an instance of the class and calls go

    }

    /**
     * this method does the actual work
     */
    public void go()
    {
        rotate720();
        Motor.A.setSpeed(800);
        rotate720();
    }

    /**
     * helper method for go(); stops motor when button ia pressed
     */
    public void rotate720()
    {
        Motor.A.rotate(720);
        LCD.drawInt(Motor.A.getTachoCount(), 4, 0, 1);
        Motor.A.rotateTo(0);
        LCD.drawInt(Motor.A.getTachoCount(), 4, 0, 2);
        Button.waitForPress();
    }
}