#Straighten01.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

#feet
0,MotorAccel(MOTOR_LEFT_FOOT,2,2000,ACCEL_LEFT_FOOT,X,0,-0.5,0.5,WAIT_STAGE|HOLD_ANGLE|ABORT_VELOCITY=40)
0,MotorAccel(MOTOR_RIGHT_FOOT,2,2000,ACCEL_RIGHT_FOOT,X,0,-0.5,0.5,WAIT_STAGE|HOLD_ANGLE)
#ankles
1,MotorAccel(MOTOR_LEFT_ANKLE,2,2000,ACCEL_LEFT_FOOT,Z,0,-0.5,0.5,WAIT_STAGE|HOLD_ANGLE)
1,MotorAccel(MOTOR_RIGHT_ANKLE,2,2000,ACCEL_RIGHT_FOOT,Z,0,-0.5,0.5,WAIT_STAGE|HOLD_ANGLE)
#knees
2,MotorAccel(MOTOR_LEFT_KNEE,2,2000,ACCEL_LEFT_LOWER_LEG,X,-12,-0.5,0.5,WAIT_STAGE|HOLD_ANGLE)
2,MotorAccel(MOTOR_RIGHT_KNEE,2,2000,ACCEL_RIGHT_LOWER_LEG,X,-12,-0.5,0.5,WAIT_STAGE|HOLD_ANGLE)
#legs
3,MotorAccel(MOTOR_LEFT_LEG,2,2000,ACCEL_LEFT_UPPER_LEG,X,5,-0.5,0.5,WAIT_STAGE|HOLD_ANGLE)
3,MotorAccel(MOTOR_RIGHT_LEG,2,2000,ACCEL_RIGHT_UPPER_LEG,X,5,-0.5,0.5,WAIT_STAGE|HOLD_ANGLE)
#side
4,MotorAccel(MOTOR_LEFT_SIDE,2,2000,ACCEL_LEFT_UPPER_LEG,Z,3.5,-0.5,0.5,WAIT_STAGE|HOLD_ANGLE)
4,MotorAccel(MOTOR_RIGHT_SIDE,2,2000,ACCEL_RIGHT_UPPER_LEG,Z,-3.5,-0.5,0.5,WAIT_STAGE|HOLD_ANGLE)

#torso
#0,MotorAccel(MOTOR_LEFT_LEG,1,5000,ACCEL_TORSO,X,0,-0.5,0.5,WAIT_STAGE|DOUBLE_THRUST)
#0,MotorAccel(MOTOR_RIGHT_LEG,1,5000,ACCEL_TORSO,X,0,-0.5,0.5,WAIT_STAGE|DOUBLE_THRUST)


10100,StopLogging

