#Forward_Step_Right_01.txt
0,StartLogging
0,StartAccelerometer(ETHACCELS_LEFT_LEG,7,POLLING)
0,StartAccelerometer(ETHACCELS_RIGHT_LEG,7,POLLING)
0,StartAccelerometer(ETHACCELS_TORSO,1,POLLING)
0,StartTouchSensor(ETHACCELS_LEFT_LEG,0x3,POLLING)
0,StartTouchSensor(ETHACCELS_RIGHT_LEG,0x3,POLLING)
#side step takes about 1 second
#stage 1: right knee bends, right leg lifts
#stage 2: left foot pushes body forward
#stage 3: right knee unbends, right leg goes back down
0,TurnMotor(ETHMOTORS_LOWER_BODY,MOTOR_RIGHT_KNEE,4,500) 
0,TurnMotor(ETHMOTORS_LOWER_BODY,MOTOR_RIGHT_LEG,4,500)
#400,TurnMotor(ETHMOTORS_LOWER_BODY,MOTOR_LEFT_FOOT,3,200)
600,TurnMotor(ETHMOTORS_LOWER_BODY,MOTOR_RIGHT_LEG,-1,500)
600,TurnMotor(ETHMOTORS_LOWER_BODY,MOTOR_RIGHT_KNEE,-1,500) 
#END,StopAllTouchSensorsInterrupt
#END,StopAllAccelerometersInterrupt
2000,StopLogging
