#include "Behaviors/StateMachine.h"

$nodeclass RelaxArm : StateNode {

	$nodeclass RelaxNode : StateNode : doStart {
		SharedObject<PIDMC> pid;
		unsigned short pidMCID = motman->addPersistentMotion(pid,MotionManager::kHighPriority);
		MMAccessor<PIDMC> relaxer(pidMCID);
       	 	for (unsigned int joint = 0; joint < NumArmJoints; joint++)
               	 	relaxer->setJointPowerLevel(ArmOffset + joint, 0);
        	processEvent(EventBase(EventBase::timerEGID,1,EventBase::statusETID,0));
        	erouter->addTimer(this,0,500);
	}

	$setupmachine {
		launch: DynamicMotionSequenceNode("relax.mot") =C=> RelaxNode
	}
}
REGISTER_BEHAVIOR(RelaxArm);