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

$nodeclass Roundabout: PilotDemo {

  $nodeclass WalkTurn : StateNode {
    $setupmachine{

      forward: WalkForward(1500)
      turnr: Turn(-1.57)
      complete: PostMachineCompletion()
    
      forward =PILOT=> turnr =PILOT=> complete
    }
  }

  $nodeclass WalkTwo : StateNode {
    $setupmachine{

      forward: WalkForward(1500)
      complete: PostMachineCompletion()
    
      forward =PILOT=> complete
    }

  }


  $setupmachine{
    rundemo: Turn(-3.1415)=C=>WalkTurn=C=>WalkTurn=C=>WalkTwo=C=>WalkTurn=C=>WalkTwo=C=>WalkTurn=C=>WalkTwo=C=>WalkTurn=C=>WalkTurn=C=>WalkTwo
  }
}
REGISTER_BEHAVIOR(Roundabout);