public MotorControls() {
		setBorder(BorderFactory.createTitledBorder("Motor Controls"));
		setLayout(new GridBagLayout());
		GridBagConstraints gc = new GridBagConstraints();
		
		forwardBtn = new JToggleButton("Forward");
		forwardBtn.addItemListener(new ItemListener() {
			public void itemStateChanged(ItemEvent ev) {
				if(ev.getStateChange() == ItemEvent.SELECTED) {
					sendCommand("FORWARD");
				}else{
					sendCommand("STOP");
				}
			}
		});
		gc.fill = GridBagConstraints.HORIZONTAL;
		gc.anchor = GridBagConstraints.NORTH;
		gc.insets = new Insets(2,0,0,2);
		gc.ipadx = 16;
		gc.ipady = 65;
		gc.gridwidth = 3;
		gc.gridx = 0;
		gc.gridy = 0;
		add(forwardBtn, gc);
		
		reverseBtn = new JToggleButton("Reverse");
		reverseBtn.addItemListener(new ItemListener() {
			public void itemStateChanged(ItemEvent ev) {
				if(ev.getStateChange() == ItemEvent.SELECTED) {
					sendCommand("REVERSE");
				}else{
					sendCommand("STOP");
				}
			}
		});
		gc.insets = new Insets(2,0,6,2);
		gc.gridx = 0;
		gc.gridy = 2;
		add(reverseBtn, gc);
		
		rightBtn = new JToggleButton("Curve Right");
		rightBtn.addItemListener(new ItemListener() {
			public void itemStateChanged(ItemEvent ev) {
				if(ev.getStateChange() == ItemEvent.SELECTED) {
					sendCommand("RIGHT");
				}else{
					sendCommand("STOP");
				}
			}
		});
		gc.insets = new Insets(2,0,0,2);
		gc.gridwidth = 1;
		gc.gridx = 2;
		gc.gridy = 1;
		add(rightBtn, gc);
		
		leftBtn = new JToggleButton("Curve Left");
		leftBtn.addItemListener(new ItemListener() {
			public void itemStateChanged(ItemEvent ev) {
				if(ev.getStateChange() == ItemEvent.SELECTED) {
					sendCommand("LEFT");
				}else{
					sendCommand("STOP");
				}
			}
		});
		gc.gridx = 0;
		gc.gridy = 1;
		add(leftBtn, gc);
		
		stopBtn = new JToggleButton("Stop", true);
		stopBtn.addItemListener(new ItemListener() {
			public void itemStateChanged(ItemEvent ev) {
				if(ev.getStateChange() == ItemEvent.SELECTED) {
					sendCommand("STOP");
				}else{
				}
			}
		});
		gc.gridx = 1;
		gc.gridy = 1;
		add(stopBtn, gc);
		
		sBar = new JTextField();
		statusBarUpdate("Ready", 4);
		//DefaultCaret caret = (DefaultCaret)sBar.getCaret();
		//caret.setUpdatePolicy(DefaultCaret.ALWAYS_UPDATE);
		sBar.setEditable(false);
		gc.gridx = 0;
		gc.gridy = 3;
		gc.gridwidth = 3;
		gc.ipady = 0;
		add(sBar, gc);
		
		controlsEnabled(false);
	}