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

$nodeclass GetAround : PilotDemo {

        $setupmachine{
		rundemo : StateNode =N=> right : RightNode =C=> halfForward : HalfForward =C=> right2 : RightNode =C=> forward : ForwardNode 
		forward =C=> left3 : LeftNode =C=> halfNode2 : HalfForward =C=> left4 : LeftNode =C=> halfForward2 : HalfForward
		
		        }


        $nodeclass Forward : PilotNode(PilotTypes::walk) : doStart {
                pilotreq.dx = 1500;
        }

		 $nodeclass HalfForward : PilotNode(PilotTypes::walk) : doStart {
	                pilotreq.dx = 750;
	        }

        $nodeclass RightNode : PilotNode(PilotTypes::walk) :doStart {
                pilotreq.da = 1.57;
        }

		$nodeclass LeftNode : PilotNode(PilotTypes::walk) :doStart {
                pilotreq.da = 4.71238;
        }


        
}

REGISTER_BEHAVIOR(GetAround);