#include "Behaviors/StateMachine.h"

$nodeclass FlashOnPlayBehavior : StateNode {

  $setupmachine{

    walk: WalkNode

    launch: StateNode =N=> {wait, noblink}

    noblink: LedNode [setPriority(MotionManager::kBackgroundPriority);
                      getMC()->set(RobotInfo::AllLEDMask,0.0)]

    flash: LedNode [getMC()->set(RobotInfo::PlayLEDMask, 1.0)] =T(1000)=> wait

    wait: StateNode =B(RobotInfo::PlayButOffset)=> flash

  }

}

REGISTER_BEHAVIOR(FlashOnPlayBehavior);