#StandBendKnee_03.sh
0,StartLogging 
0,LogScriptFileName
#StartTimeInMS,HoldAngleWithMotor(AccelName,AccelAngleXYorZ,TargetAngle,DegreesPlus,DegreesMinus,MotorName,Dir*Strength,Duration/TimeOut,flags)

#legs spread 22cm from left foot to right foot center

#torso
#0,MotorAccel(MOTOR_LEFT_LEG,1,5000,ACCEL_TORSO,X,-18,-1,1,WAIT_STAGE|DOUBLE_THRUST|HOLD_ANGLE|ABORT_VELOCITY=30|FUTURE_LOG)
#0,MotorAccel(MOTOR_RIGHT_LEG,1,5000,ACCEL_TORSO,X,-18,-1,1,WAIT_STAGE|DOUBLE_THRUST|HOLD_ANGLE)


#feet
0,MotorAccel(MOTOR_LEFT_FOOT,1,5000,ACCEL_LEFT_FOOT,X,0,-3,3,ACCEL_LEFT_LOWER_LEG,X,-14,-1,1,WAIT_STAGE|HOLD_ANGLE|FUTURE_LOG)
0,MotorAccel(MOTOR_RIGHT_FOOT,1,5000,ACCEL_RIGHT_FOOT,X,0,-3,3,ACCEL_RIGHT_LOWER_LEG,X,-14,-1,1,WAIT_STAGE|HOLD_ANGLE)
#0,MotorAccel(MOTOR_LEFT_FOOT,1,5000,ACCEL_LEFT_LOWER_LEG,X,-14,-1,1,WAIT_STAGE|HOLD_ANGLE|FUTURE_LOG)
#0,MotorAccel(MOTOR_RIGHT_FOOT,1,5000,ACCEL_RIGHT_LOWER_LEG,X,-14,-1,1,WAIT_STAGE|HOLD_ANGLE)
#0,MotorAccel(MOTOR_LEFT_FOOT,1,5000,ACCEL_LEFT_FOOT,X,0,-3,3,WAIT_STAGE|HOLD_ANGLE)
#0,MotorAccel(MOTOR_RIGHT_FOOT,1,5000,ACCEL_RIGHT_FOOT,X,0,-3,3,WAIT_STAGE|HOLD_ANGLE)


#knees
#0,MotorAccel(MOTOR_LEFT_KNEE,1,3000,ACCEL_LEFT_UPPER_LEG,X,12,-1,1,WAIT_STAGE|HOLD_ANGLE)
#0,MotorAccel(MOTOR_RIGHT_KNEE,1,3000,ACCEL_RIGHT_UPPER_LEG,X,12,-1,1,WAIT_STAGE|HOLD_ANGLE)

#side
#0,MotorAccel(MOTOR_LEFT_SIDE,1,3000,ACCEL_TORSO,Z,0,-1,1,WAIT_STAGE|DOUBLE_THRUST|HOLD_ANGLE)
#0,MotorAccel(MOTOR_RIGHT_SIDE,1,3000,ACCEL_TORSO,Z,0,-1,1,WAIT_STAGE|DOUBLE_THRUST|HOLD_ANGLE)


#ankles
#0,MotorAccel(MOTOR_LEFT_ANKLE,1,5000,ACCEL_LEFT_LOWER_LEG,X,3,-1,1,WAIT_STAGE|HOLD_ANGLE)
#0,MotorAccel(MOTOR_RIGHT_ANKLE,1,5000,ACCEL_RIGHT_LOWER_LEG,X,-3,-1,1,WAIT_STAGE|HOLD_ANGLE)


#ankles
#1,MotorAccel(MOTOR_LEFT_ANKLE,1,5000,ACCEL_LEFT_FOOT,Z,0,-0.5,0.5,WAIT_STAGE)
#1,MotorAccel(MOTOR_RIGHT_ANKLE,1,5000,ACCEL_RIGHT_FOOT,Z,0,-0.5,0.5,WAIT_STAGE)
#legs
#3,MotorAccel(MOTOR_LEFT_LEG,1,5000,ACCEL_LEFT_UPPER_LEG,X,0,-0.5,0.5,WAIT_STAGE)
#3,MotorAccel(MOTOR_RIGHT_LEG,1,5000,ACCEL_RIGHT_UPPER_LEG,X,0,-0.5,0.5,WAIT_STAGE)
#side
#4,MotorAccel(MOTOR_LEFT_SIDE,1,5000,ACCEL_LEFT_UPPER_LEG,Z,3.5,-0.5,0.5,WAIT_STAGE)
#4,MotorAccel(MOTOR_RIGHT_SIDE,1,5000,ACCEL_RIGHT_UPPER_LEG,Z,-3.5,-0.5,0.5,WAIT_STAGE)



5100,StopLogging

