public static void startController(WandererController wandererController)
{
AcsellSetup.startStreamingData();
YoVariableRegistry registry = new YoVariableRegistry("wanderer");
WandererRobotModel robotModel = new WandererRobotModel(true, true);
PeriodicThreadSchedulerFactory scheduler = new PeriodicRealtimeThreadSchedulerFactory(45);
YoVariableServer variableServer = new YoVariableServer(WandererSingleThreadedController.class, scheduler, robotModel.getLogModelProvider(), robotModel.getLogSettings(), 0.01);
AcsellSetup wandererSetup = new AcsellSetup(variableServer);
PriorityParameters priority = new PriorityParameters(PriorityParameters.getMaximumPriority());
WandererSingleThreadedController communicator = new WandererSingleThreadedController(robotModel, priority, variableServer, wandererController, registry);
variableServer.start();
wandererSetup.start();
communicator.start();
ThreadTools.sleepForever();
}