<?xml version="1.0"?>
<program>

<robot file = "xml/robot/snake_with_head.xml"/>

<parameters>
<neckdir init = "84" type = "text"/>
<headdir init = "0" type = "text"/>
</parameters>

<main>
<headupWave/>
</main>

<behaviors>
<headupWave>
<wave group = "group1" phase = "0.25" period = "2"/>
<keephead group = "head"/>
<keepneck group = "neck"/>
</headupWave>
</behaviors>

<automata>
<wave states = "up, down"/>
<keephead states = "keephead"/>
<keepneck states = "keepneck"/>
</automata>

<states>
<up angles = "30"/>
<down angles = "-30"/>
<keephead angles = "#(0.1*(headdir-($_1_accel_x))), 0"/>
<keepneck angles = "#(0.1*(neckdir-($_1_accel_x))), 0"/>
</states>

</program>



