<?xml version="1.0"?>
<program>

<robot file = "xml/robot/doubleSnake.xml"/>

<parameters>
</parameters>

<controls>
<type init="single" states="single, double"/>
</controls>

<main>
<singleWave exit="$type==double"/>
<doubleWave exit="$type==single"/>
</main>

<behaviors>
<doubleWave>
<wave group = "snake1" phase = "0.25" period = "1"/>
<wave group = "snake2" phase = "0.25" period = "1"/>
<bend group = "turn"/>
</doubleWave>
<singleWave>
<wave group = "snake" phase = "0.25" period = "1"/>
<straight group = "turn"/>
</singleWave>
</behaviors>

<automata>
<wave states = "up, down"/>
<straight states = "straight"/>
<bend states = "bend"/>
</automata>

<states>
<up angles = "30"/>
<down angles = "-30"/>
<straight angles = "0"/>
<bend angles = "60"/>
</states>

</program>



