Multiplexor.java

import lejos.nxt.I2CPort;
import lejos.nxt.I2CSensor;

public class Multiplexor extends I2CSensor{
	private static byte direction = 0;
	private static byte speed = 0;

	public Multiplexor(I2CPort port){
		super(port);
		setAddress(0x5A);
	}

	public static void main(String[] args){	
	}

	public void setMotors(int directionIndex, int speedIndex, int wheelIndex){
		// sets up possible values 
		switch(directionIndex){
		case -1:
		    direction = (byte) 2;
		    break;
		case 0:
		    direction = (byte) 0;
		    break;
		case 1:
		    direction = (byte) 1;
		    break;
		}
	
		switch(speedIndex){
		case 0:
		    speed = (byte) 0;
		    break;
	        case 1:
		    speed = (byte) 90;
		    break;
		case 2:
		    speed = (byte) 180;
		    break;
		case 3:
		    speed = (byte) 255;
		    break;
		}

		switch (wheelIndex){
		// left wheel
		case 0:		 
			sendData((byte)0x03,direction); 
			sendData((byte)0x04,speed);
			break;
		// right wheel
		case 1:
			sendData((byte)0x01,direction); 
			sendData((byte)0x02,speed);
			break;
		}
	}
}