#define ANIM_SPEED1				<90>
#define ANIM_SPEED2				<180>

#define FL_STATE1				turn actuator1 to y-axis <-75> speed ANIM_SPEED2;
#define FL_STATE2				turn thigh1 to x-axis <-45> speed ANIM_SPEED1; turn leg1 to x-axis <45> speed ANIM_SPEED1;
#define FL_RESET1				turn thigh1 to x-axis 0 speed ANIM_SPEED2; turn leg1 to x-axis 0 speed ANIM_SPEED2;
#define FL_RESET2				turn actuator1 to y-axis 0 speed ANIM_SPEED2;
#define FL_WAIT1				wait-for-turn actuator1 around y-axis;
#define FL_WAIT2				wait-for-turn thigh1 around x-axis; wait-for-turn leg1 around x-axis;

#define FR_STATE1				turn actuator2 to y-axis <75> speed ANIM_SPEED2;
#define FR_STATE2				turn thigh2 to x-axis <-45> speed ANIM_SPEED1; turn leg2 to x-axis <45> speed ANIM_SPEED1;
#define FR_RESET1				turn thigh2 to x-axis 0 speed ANIM_SPEED2; turn leg2 to x-axis 0 speed ANIM_SPEED2;
#define FR_RESET2				turn actuator2 to y-axis 0 speed ANIM_SPEED2;
#define FR_WAIT1				wait-for-turn actuator2 around y-axis;
#define FR_WAIT2				wait-for-turn thigh2 around x-axis; wait-for-turn leg2 around x-axis;

#define RL_STATE1				turn actuator3 to y-axis <75> speed ANIM_SPEED2;
#define RL_STATE2				turn thigh3 to x-axis <45> speed ANIM_SPEED1; turn leg3 to x-axis <-45> speed ANIM_SPEED1;
#define RL_RESET1				turn thigh3 to x-axis 0 speed ANIM_SPEED2; turn leg3 to x-axis 0 speed ANIM_SPEED2;
#define RL_RESET2				turn actuator3 to y-axis 0 speed ANIM_SPEED2;
#define RL_WAIT1				wait-for-turn actuator3 around y-axis;
#define RL_WAIT2				wait-for-turn thigh3 around x-axis; wait-for-turn leg3 around x-axis;

#define RR_STATE1				turn actuator4 to y-axis <-75> speed ANIM_SPEED2;
#define RR_STATE2				turn thigh4 to x-axis <45> speed ANIM_SPEED1; turn leg4 to x-axis <-45> speed ANIM_SPEED1;
#define RR_RESET1				turn thigh4 to x-axis 0 speed ANIM_SPEED2; turn leg4 to x-axis 0 speed ANIM_SPEED2;
#define RR_RESET2				turn actuator4 to y-axis 0 speed ANIM_SPEED2;
#define RR_WAIT1				wait-for-turn actuator4 around y-axis;
#define RR_WAIT2				wait-for-turn thigh4 around x-axis; wait-for-turn leg4 around x-axis;

#define PULL_LEFT				FL_STATE1 RL_RESET2
#define PULL_RIGHT				FR_STATE1 RR_RESET2

#define PUSH_LEFT				FL_RESET2 RL_STATE1
#define PUSH_RIGHT				FR_RESET2 RR_STATE1

#define RAISE_LEFT				FL_STATE2 
#define RAISE_RIGHT

#define WAIT1					FL_WAIT1 RL_WAIT1 FR_WAIT1 RR_WAIT1
#define WAIT2					FL_WAIT2 RL_WAIT2 FR_WAIT2 RR_WAIT2

#define RESET_LEFT				FL_STATE2 RL_STATE2 FL_RESET2 RL_RESET2 FL_WAIT2 RL_WAIT2 
#define RESET_RIGHT				FR_STATE2 RR_STATE2 FR_RESET2 RR_RESET2 FR_WAIT2 RR_WAIT2



RestoreAfterDelay(delay)
{
	sleep delay;
	turn turret to y-axis 0 speed <90>;
	turn sleeve to x-axis 0 speed <90>;
	
	turn actuator1 to y-axis <-45> now;
	turn actuator2 to y-axis <45> now;
	turn actuator3 to y-axis <45> now;
	turn actuator4 to y-axis <-45> now;
	
}
WalkAnimation()
{
	var state;
	state = 0;
	while (TRUE)
	{
		if (isMoving)
		{
			PULL_LEFT PUSH_RIGHT WAIT1 
		}
		else sleep 250;
	}
}