#StepUpAndDownRight01.txt
#lean left until torso (or head) is < -10degrees, and lift right leg, bending knee, and put back down
0,StartLogging
#0,StartAccelerometer(ETHACCELS_TORSO,1,POLLING)
#stage 1: lean left with feet until torso Z < 0 degrees
#stage 2: lift right leg, and bed right knee
#stage 3: right knee unbends, right leg goes back down
#possibly need flag like CONSTANT_EVAL, or STRIVE_FOR_ANGLE, or UNTIL_TIMEOUT (UNTIL_ANGLE being default) - does not wait but constantly evaluates angle even after attaining at least once
#0,TurnMotorUntilAngle(ETHMOTORS_LOWER_BODY,MOTOR_LEFT_ANKLE,1,500,ETHACCELS_TORSO,0,Z,LT,0,WAIT_STAGE) #wait
#0,TurnMotorUntilAngle(ETHMOTORS_LOWER_BODY,MOTOR_LEFT_ANKLE,1,1000,ETHACCELS_TORSO,0,Z,LT,0) #do not wait
1,TurnMotor(ETHMOTORS_LOWER_BODY,MOTOR_LEFT_KNEE,-5,400) 
1,TurnMotor(ETHMOTORS_LOWER_BODY,MOTOR_LEFT_LEG,-5,400)
500,TurnMotor(ETHMOTORS_LOWER_BODY,MOTOR_LEFT_KNEE,5,350) 
500,TurnMotor(ETHMOTORS_LOWER_BODY,MOTOR_LEFT_LEG,5,350)
#END,StopAllTouchSensorsInterrupt
#END,StopAllAccelerometersInterrupt
2000,StopLogging
