#RightStep01.txt
#0,StartLogging;
#0,StartAllAccelerometersInterrupt
#0,StartAllTouchSensorsInterrupt
#gently lean left and forward
0,MOTOR_LOWER_BODY,1,4,250 #left ankle lean left
0,MOTOR_LOWER_BODY,7,4,250 #right ankle lean left
0,MOTOR_LOWER_BODY,0,1,250 #left foot lean forward
0,MOTOR_LOWER_BODY,6,-1,250 #right foot lean forward
0,MOTOR_LOWER_BODY,11,5,400 #right knee bends slightly (left knee does not bend back currently)- if robot falls to the right after the right kne bends the
# it did not shift it's weight enough before bending its rt knee
#the leg should not lift until the foot is off the ground
400,MOTOR_LOWER_BODY,9,6,500 #right leg swings leg forward, pushes torso back
400,MOTOR_LOWER_BODY,3,6,400 #and left leg swings backwards, pushes torso forward
#swing right knee forward
650,MOTOR_LOWER_BODY,11,-6,300 #right knee swings lower right leg forward
#lean back right
800,MOTOR_LOWER_BODY,1,-4,250 #left ankle lean right
800,MOTOR_LOWER_BODY,7,-4,250 #right ankle lean right
800,MOTOR_LOWER_BODY,0,-1,250 #left foot lean backward
800,MOTOR_LOWER_BODY,6,1,250 #right foot lean backward
#END,StopAllTouchSensorsInterrupt
#END,StopAllAccelerometersInterrupt
#END,StopLogging;
