<?xml version="1.0"?>
<program>

<robot file = "xml/robot/snake_with_accel.xml"/>

<controls>
<turnangle init="0" min="-60" max="60"/>
</controls>

<main>
<turnWave exit="abs($0_accel_z) > 50" waveGroup = "group1" turnGroup = "group2"/>
<turnWave exit="abs($0_accel_z) &lt; 50" waveGroup = "group2" turnGroup = "group1"/>
</main>

<behaviors>
<turnWave macros = "waveGroup, turnGroup">
<wave group = "waveGroup" phase = "0.25" period = "1"/>
<turn group = "turnGroup"/>
</turnWave>
</behaviors>

<automata>
<wave states = "up, down"/>
<turn states = "bend"/>
</automata>

<states>
<up angles = "30"/>
<down angles = "-30"/>
<bend angles = "($turnangle)"/>
</states>

</program>


