//System.setOut(new PrintStream(RConsole.openOutputStream()));
// Create the robot and MCL pose provider and get its particle set
pilot = new DifferentialPilot(
TYRE_DIAMETER, WHEEL_BASE, Motor.B, Motor.C, true);
mcl = new MCLPoseProvider(pilot,this, map, NUM_PARTICLES, BORDER);
particles = mcl.getParticles();
particles.setDebug(true);
// Make random moves until we know where we are
Pose start = localize();