Write code in Java for Lego EV3 Robot

Hi, i need some code for a lego ev3 robot which will explore an arena and produce a map, using Behaviours through the Subsumption Package. This robot must explore its arena and produce a map using occupancy grid techniques, indicating the probability of each cell being occupied, unoccupied or whether the probability is unknown. The map should be displayed on the robot's LCD screen throughout the search. When the robot finishes the demo, the map should be displayed until a final button (e.g. ESCAPE) is pressed, so that the map can be inspected. The map should be viewable either using text, drawn graphically, or both (for example, pressing a button toggles between the two). Note that any final occupancy grid could include cells representing the boundary of the arena. 5-10 minutes for mapping the arena. The arena is in 7x6 cells. Every cell is 25x25cm. The arena will have a small number (between 2 and 4) of obstacles, which will be placed at random locations during the mapping. These obstacles will be 25x25x10cm in dimension. They are intended to be easily detectable, but should not move when collisions occur. The robot must turn while detect them. Or collide and go a little bit back. Each arena will have a number of randomly distributed colour cells, which you could use to assist the localisation. In addition, a 20mm boundary is used to mark out each cell. The robot has motors and sensors. such as IR sensor.