#Side_Step_Right_01.txt
0,StartLogging
#0,StartAccelerometer(ETHACCELS_LEFT_LEG,7,POLLING)
#0,StartAccelerometer(ETHACCELS_RIGHT_LEG,7,POLLING)
#0,StartAccelerometer(ETHACCELS_TORSO,3,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: side step motor turns
#stage 3: right knee unbends, right leg goes back down
0,TurnMotor(ETHMOTORS_LOWER_BODY,MOTOR_RIGHT_KNEE,4,400) 
0,TurnMotor(ETHMOTORS_LOWER_BODY,MOTOR_RIGHT_LEG,4,400)
400,TurnMotor(ETHMOTORS_LOWER_BODY,MOTOR_RIGHT_SIDE,4,400)
800,TurnMotor(ETHMOTORS_LOWER_BODY,MOTOR_RIGHT_KNEE,-4,400) 
800,TurnMotor(ETHMOTORS_LOWER_BODY,MOTOR_RIGHT_LEG,-4,300)

#END,StopAllTouchSensorsInterrupt
#END,StopAllAccelerometersInterrupt
2000,StopLogging
