public Engine[] initEngines() {
		Engine[] engines = new Engine[Configs.enginesConfigs.length];
		for (int i = 0; i < engines.length; i++) {
			engines[i] = new Engine(this, (int) Configs.enginesConfigs[i][0], // portNo
					(double) Configs.enginesConfigs[i][1], // speed
					(int) Configs.enginesConfigs[i][2], // idlePulse
					(int) Configs.enginesConfigs[i][3], // minPulse
					(int) Configs.enginesConfigs[i][4]); // maxPulse
		}
		for (Engine e : engines) {
			e.move(0);
		}
		gripEngineThread = new Thread(
				engines[Configs.enginesConfigs.length - 1]);
		gripEngineThread.start();
		return engines;
	}