#include "Behaviors/Demos/Navigation/PilotDemo.h"

$nodeclass Star5 : PilotDemo {

    $setupmachine{

         startdemo: StarLeg =C=> StarLeg =C=> StarLeg =C=> StarLeg =C=> StarLeg

    }

    $nodeclass StarLeg : StateNode {

        $nodeclass GoForward : PilotNode(PilotTypes::walk) : doStart {
            pilotreq.dx = 750; // forward 75 cm
        }

        $nodeclass TurnAngle : PilotNode(PilotTypes::walk) : doStart {
            pilotreq.da = -2.51327412; // turn clockwise by 144 degrees
        }

        $setupmachine{

            goDist: GoForward =C=> TurnAngle =C=> PostMachineCompletion

        }

    }

}

REGISTER_BEHAVIOR(Star5);