<?xml version="1.0"?>
<program>
<robot file = "xml/robot/snake_with_switch.xml"/>

<main>
<switchWave/>
</main>

<behaviors>
<switchWave>
<wave group = "group1" phase = "0.25" period = "1"/>
<turn group = "group2"/>
</switchWave>
</behaviors>

<automata>
<wave states = "up, down"/>
<turn states = "bend"/>
</automata>

<states>
<up angles = "30"/>
<down angles = "-30"/>
<bend angles = "30*(($_0_touch_left)-($_0_touch_right))"/>
</states>

</program>


