<?xml version="1.0"?>
<program>

<robot>
	<structure>
		<loop elements = "0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15"/>
	</structure>
</robot>

<parameters>
<N init="16" type = "text"/>
<radius init="3" type = "text"/>
<slacks init="1" type = "text"/>
</parameters>

<main>
<loop/>
</main>

<behaviors>
<loop>
<wave group = "loop" phase = "2/N" period = "5"/>
</loop>
</behaviors>

<automata>
<wave states = "bend, hold, straight, hold, slack" times = "1, (radius-1), 1, (N/2-radius-1)-slacks, slacks"/>
</automata>

<states>
<bend angles = "180/radius"/>
<straight angles = "0"/>
<hold angles = "@"/>
<slack angles = "~0"/>
</states>

</program>


