<?xml version="1.0"?>
<program>

<robot file = "xml/robot/centipede6.xml"/>

<parameters>
<beta init = "0.5" type = "text"/>
<upRatio init = "0.5" type = "text"/>
<holdRatio init = "0.5" type = "text"/>
<N init = "3" type = "text"/>
<upTime init = "3" type = "text"/>
<upPhase init = "0.5" type = "text"/>
<upOffset init = "0.5" type = "text"/>
</parameters>

<main>
<standup time="(upOffset+(N-1)*upPhase+1)*upTime"/>
<walk/>
</main>

<behaviors>
<standup>
<getup group = "!left" phase = "upPhase" period = "upTime" cycles = "1"/>
<getup group = "right" offset = "upOffset" phase = "upPhase" period = "upTime" cycles = "1"/>
</standup>
<walk>
<wave group = "!left" offset = "0" phase = "beta" period = "3"/>
<wave group = "right" offset = "0.5" phase = "beta" period = "3"/>
</walk>
</behaviors>

<automata>
<wave states = "up, down, hold, reset"
times = "(1-beta)*upRatio, (1-beta)*(1-upRatio), beta*holdRatio, beta*(1-holdRatio)"/>
<getup states = "reset"/>
</automata>

<states>
<up angles = "30, -22, -90"/>
<down angles = "30, -60, -27"/>
<hold angles = "@, @, @"/>
<reset angles = "0, -60, -30"/>
</states>

</program>


