public GRTRobotBase(int DTports[], int accelerometerPort, int gyroPort) {
addActuator("DriveTrain", new GRTDriveTrain(DTports[0],DTports[1]));
getActuator("DriveTrain").start();
addSensor("Accelerometer",
new GRTAccelerometer(accelerometerPort, 50, "baseAccel"));
getSensor("Accelerometer").start();
addSensor("Gyro", new GRTGyro(gyroPort, 50, "baseGyro"));
getSensor("Gyro").start();
}