<?xml version="1.0"?>
<program>

<robot file = "xml/robot/snake.xml"/>

<controls>
<period init="5" min="1" max="10"/>
<amp init="30" min="10" max="60"/>
</controls>

<main>
<simpleWave/>
</main>

<behaviors>
<simpleWave>
<wave group = "group1" phase = "0.25" period = "$period"/>
</simpleWave>
</behaviors>

<automata>
<wave states = "up, down"/>
</automata>

<states>
<up angles = "$amp"/>
<down angles = "-($amp)"/>
</states>

</program>


