#------------------------------------------------------------------------------
# TiViPE Textual Robotics Language. 
# Copyright (c) 2016, TiViPE, All rights reserved.
# Url:    www.tivipe.com
# Email:  tino@tivipe.com
# Author: Tino Lourens
# Date:   09 Sep 2016
#------------------------------------------------------------------------------
#------------------------------------------------------------------------------
# Enable motor stiffness; goto stand init position
#------------------------------------------------------------------------------
wait(2000)
&
stiff (1, 500, 0)
&
posture(StandInit)
&
#------------------------------------------------------------------------------
# moveto(x, y, angle) x, y in meters; angle rotation in degrees (-180 to 180)
#------------------------------------------------------------------------------
say(move_20_centimeters_forward, 80, English)
&
moveto(0.2, 0, 0.0)
&
wait(2000)
&
say(move_20_centimeters_backward, 80, English)
&
moveto(-0.2, 0, 0.0)
&
wait(2000)
&
say(move_10_centimeters_to_the_left, 80, English)
&
moveto(0.0, 0.1, 0.0)
&
wait(2000)
&
say(move_10_centimeters_to_the_right, 80, English)
&
moveto(0.0, -0.1, 0.0)
&
wait(2000)
&
say(move_forward_and_turn, 80, English)
&
moveto(0.1, 0.1, 90.0)
&
wait(2000)
&
say(move_backward_and_turn, 80, English)
&
moveto(-0.1, -0.1, -90.0)
&
wait(2000)
&
say(move_20_centimeters_backward, 80, English)
&
moveto(-0.2, 0, 0.0)
&
wait(2000)
&
say(turn_around_axis, 80, English)
&
moveto(0.0, 0.0, 360.0)
&
wait(2000)
&
say(turn_back_around_axis, 80, English)
&
moveto(0.0, 0.0, -180.0)
&
wait(2000)
&
#------------------------------------------------------------------------------
# movenormal (x, y, angle, duration) move a given duration in milliseconds
# movefast (x, y, angle, duration) move a given duration in milliseconds
#
# x, y, angle between -1 and 1; -1 is maximum speed backward; 0=no movement
# 1 is maximum speed forward
#------------------------------------------------------------------------------
say(move_for_2_seconds, 80, English)
&
movenormal(1.0, 0.0, 0.0, 2000)
&
wait(2000)
&
say(move_fast_for_3_seconds, 80, English)
&
movefast(1.0, 0.0, 0.0, 3000)
&
wait(2000)
&
say(move_backward_for_7_seconds, 80, English)
&
movenormal(-1.0, 0.0, 0.0, 7000)
&
wait(2000)
&
#------------------------------------------------------------------------------
# Relax motor stiffness
#------------------------------------------------------------------------------
posture(Crouch)
&
stiff(0, 500, 0)
&
say(ready)
#------------------------------------------------------------------------------
# End of program
#------------------------------------------------------------------------------