<?xml version="1.0"?>
<program>
	<robot file="xml/robot/snake.xml"/>
	<controls>
		<turnangle init="0" min="-60" max="60"/>
		<direction init="forward" states="forward, backward"/>
	</controls>
	<main>
		<dirTurnWave/>
	</main>
	<behaviors>
		<dirTurnWave>
			<if cond="$direction==forward">
				<wave group="group1" phase="0.25" period="1"/>
			</if>
			<if cond="$direction==backward">
				<wave group="group1" phase="0.75" period="1"/>
			</if>
			<turn group="group2"/>
		</dirTurnWave>
	</behaviors>
	<automata>
		<wave states="up, down"/>
		<turn states="bend"/>
	</automata>
	<states>
		<up angles="30"/>
		<down angles="-30"/>
		<bend angles="($turnangle)"/>
	</states>
</program>

