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

$nodeclass Star5 : PilotDemo {

	$setupmachine {
		rundemo: StarLeg =C=> StarLeg =C=> StarLeg =C=> StarLeg =C=> StarLeg
	}

	$nodeclass StarLeg : StateNode {
		$setupmachine {
		
		launch: StateNode =N=> forward

		forward: WalkForward(750)
		forward =PILOT=> right

		right: Turn(4*M_PI/5)

		right =PILOT=> PostMachineCompletion()

//		right =PILOT=> done
//		done: LedNode [getMC()->set(RobotInfo::PlayLEDMask,1.0)]

		}
	}
}

REGISTER_BEHAVIOR(Star5);