#OpposeMotionTorso01.sh 
0,StartLogging
0,LogScriptFileName
#0,MakeMotionLog(NodHead09)  #outputs Time, Thrust, Angle, Speed, Accel, Jerk
#Turn Head motor until Head X has -37 degree with Torso X (note that Head X will be around -46 degrees, and Torso around -9 degrees relative to ground) with TargetVelocity=50deg/s
#0,TurnMotorUntilRelativeAngle(ETHMOTORS_UPPER_BODY,MOTOR_HEAD,2,1000,ETHACCELS_TORSO,1,0,ETHACCELS_TORSO,0,0,BETWEEN,-37,-5,5,WAIT_STAGE)
#1,TurnMotorUntilAngle(ETHMOTORS_UPPER_BODY,MOTOR_HEAD,50,1000,ETHACCELS_TORSO,1,0,BETWEEN,0,-1,1,WAIT_STAGE)
#1,TurnMotorUntilAngle(ETHMOTORS_UPPER_BODY,MOTOR_HEAD,50,1000,ACCEL_TORSO,1,0,BETWEEN,0,-1,1,WAIT_STAGE)
#1,TurnMotorUntilRelativeAngle(ETHMOTORS_UPPER_BODY,MOTOR_HEAD,50,1000,ETHACCELS_TORSO,1,0,ETHACCELS_TORSO,0,0,BETWEEN,0,-1,1,WAIT_STAGE)
#1,TurnMotorUntilRelativeAngle(MOTOR_HEAD,50,2000,ACCEL_HEAD,X,ACCEL_TORSO,X,0,-1,1,WAIT_STAGE)
#2,TurnMotorUntilRelativeAngle(ETHMOTORS_UPPER_BODY,MOTOR_HEAD,2,1000,ETHACCELS_TORSO,1,0,ETHACCELS_TORSO,0,0,BETWEEN,-37,-5,5,WAIT_STAGE)
#3,TurnMotorUntilRelativeAngle(ETHMOTORS_UPPER_BODY,MOTOR_HEAD,-2,2000,ETHACCELS_TORSO,1,0,ETHACCELS_TORSO,0,0,BETWEEN,0,-1,1,WAIT_STAGE)

#0,TurnMotorUntilAngle(MOTOR_HEAD,10,5000,ACCEL_HEAD,X,-39,-1,1,WAIT_STAGE)

#0,HoldAngleWithMotor(ACCEL_HEAD,X,-40,-10,0,MOTOR_HEAD,3,5000,WAIT_STAGE|MOTION_LOG|CONSTANT_THRUST)
#0,MotorAccel(MOTOR_HEAD,2,5000,ACCEL_HEAD,X,-40,-10,0,WAIT_STAGE|MOTION_LOG|CONSTANT_THRUST|HOLD_ANGLE)
#0,MotorAccel(MOTOR_HEAD,2,5000,ACCEL_HEAD,X,-40,-2,2,WAIT_STAGE|MOTION_LOG|HOLD_ANGLE)
0,MotorAccel(MOTOR_LEFT_LEG,2,5000,ACCEL_TORSO,X,CurrentAngle,-1,1,MOTION_LOG|FUTURE_LOG|OPPOSE_MOTION|DOUBLE_THRUST)
0,MotorAccel(MOTOR_RIGHT_LEG,2,5000,ACCEL_TORSO,X,CurrentAngle,-1,1,MOTION_LOG|FUTURE_LOG|OPPOSE_MOTION|DOUBLE_THRUST)

#0,MotorAccel(MOTOR_HEAD,9,5000,ACCEL_HEAD,X,-40,-2,2,MOTION_LOG|FUTURE_LOG)

5000,StopLogging
