public void start()
{
ev3.connect();
gyro = ev3.getGyroSensor();
left_motor = ev3.getMotorA();
right_motor = ev3.getMotorD();
// Optional code to accept BasicMotor: this.right_motor = (NXTMotor)right;
// this.gyro = gyro;
this.ratioWheel = wheelDiameter / 5.6; // Original algorithm was tuned for 5.6 cm NXT 1.0 wheels.
// Took out 50 ms delay here.
// Get the initial gyro offset
getGyroOffset();
// Play warning beep sequence before balance starts
// startBeeps();
// Start balance thread
// this.setDaemon(true);
// this.start();
// initialize ();
// balance();
Thread t1 = new Thread(new ThreadStart(balance));
t1.Start();
// Thread t2 = new Thread (new ThreadStart (drive));
// t2.Start ();
t1.Join();
// t2.Join ();
ev3.disconnect();
}