'Motion Routines - DEMO 1
'for Hitec Multiplex Europe - Robonova-1
'By: Matt Bauer 
'http://www.bauerindependents.com
'matt@bauerindependents.com

'THIS FILE IS COMPLETE - LOAD DIRECTLY INTO RN-1 THROUGH ROBOBASIC
'PRESS BUTTON #2 oN REMOTE TO EXECUTE ROUTINE SEQUENSE

DIM A AS BYTE

PTP SETON 				
PTP ALLON				

'== motor diretion setting ======================
DIR G6A,1,0,0,1,0,0		
DIR G6B,1,1,1,1,1,1		
DIR G6C,0,0,0,0,0,0		
DIR G6D,0,1,1,0,1,0		

'== motor start position read ===================
GETMOTORSET G6A,1,1,1,1,1,0
GETMOTORSET G6B,1,1,1,0,0,0
GETMOTORSET G6C,1,1,1,0,0,0
GETMOTORSET G6D,1,1,1,1,1,0

	SPEED 5

'== motor power on  =============================
	MOTOR G24	
'	GOSUB gyro_on_FB
	GOSUB standard_pose

'================================================
MAIN:    	
		
A = REMOCON(1)	
	IF A <> 2 THEN GOTO main
GOSUB routine
GOTO MAIN
'================================================
gyro_off: 
GYROSET G6A, 0, 0, 0, 0, 0, 0 ' set Gyro to use (0=no Gyro) 
GYROSET G6D, 0, 0, 0, 0, 0, 0 ' set Gyro to use (0=no Gyro) 
GYROSET G6C, 0, 0, 0, 0, 0, 0 ' set Gyro to use (0=no Gyro) 
GYROSET G6B, 0, 0, 0, 0, 0, 0 ' set Gyro to use (0=no Gyro) 

GYROSENSE G6A, 0,0,0, 0, 0, 0 
GYROSENSE G6D, 0,0,0, 0, 0, 0 
GYROSENSE G6C, 0,0,0, 0, 0, 0 
GYROSENSE G6B, 0,0,0, 0, 0, 0 
RETURN 

gyro_on_ALL: 
GYROSET G6A, 2, 1, 1, 0, 2, 0 
GYROSET G6D, 2, 1, 1, 0, 2, 0 
GYROSET G6C, 1, 2, 0, 0, 0, 0
GYROSET G6B, 1, 2, 0, 0, 0, 0

GYRODIR G6A, 0, 0, 1, 0, 1, 0 
GYRODIR G6D, 1, 0, 1, 0, 0, 0 
GYRODIR G6C, 0, 0, 0, 0, 0, 0 
GYRODIR G6B, 0, 1, 0, 0, 0, 0 

GYROSENSE G6A, 200,200,200,  0, 200, 0 
GYROSENSE G6D, 200,200,200,  0, 200, 0 
GYROSENSE G6C, 150,150,  0,  0,   0, 0 
GYROSENSE G6B, 150,150,  0,  0,   0, 0 
RETURN

gyro_on_FB: 
GYROSET G6A, 0, 1, 1, 0, 0, 0 
GYROSET G6D, 0, 1, 1, 0, 0, 0 
GYROSET G6C, 1, 0, 0, 0, 0, 0
GYROSET G6B, 1, 0, 0, 0, 0, 0

GYRODIR G6A, 0, 0, 1, 0, 0, 0 
GYRODIR G6D, 0, 0, 1, 0, 0, 0 
GYRODIR G6C, 0, 0, 0, 0, 0, 0 
GYRODIR G6B, 0, 0, 0, 0, 0, 0 

GYROSENSE G6A, 0,200,200, 0, 0, 0 
GYROSENSE G6D, 0,200,200, 0, 0, 0 
GYROSENSE G6C, 150, 0, 0, 0, 0, 0 
GYROSENSE G6B, 150, 0, 0, 0, 0, 0 
RETURN


'[][][][][][][][][][][][][][][][][][][][][][][][][][][][][][]
DIM i AS BYTE
DIM count AS BYTE
'[][][][][][][][][][][][][][][][][][][][][][][][][][][][][][]

'[][][][][][][][][][][][][][][][][][][][][][][][][][][][][][]
test:
GOSUB leg_touch
GOTO MAIN

routine:
'SKIP: single arm breathing (0:08)
GOSUB arm_breathe '(:28)
WAIT
' SKIP: head/neck rolls (1:00) - IMPOSSIBLE
GOSUB shoulder_shrug_fwd '(1:33)
DELAY 250
WAIT
GOSUB shoulder_shrug_bck '(1:47)
WAIT
' SKIP: shoulder shrug w/ stepping (1:56)
' SKIP: self-hug/chest-out (2:50) - IMPOSSIBLE
' SKIP: arm-glide (3:18)
DELAY 500
GOSUB peek_a_boo '(3:42)
WAIT
DELAY 500
GOSUB hip_gyrationsL '(4:09)
WAIT
DELAY 400
GOSUB hip_gyrationsR
WAIT
' SKIP: hip gyrations w/ stepping (4:28)
GOSUB arch_stretch '(4:56)
WAIT
' SKIP: leg/arm glides (5:16) - IMPOSSIBLE
' SKIP: single arm breathe-squat (5:53)
GOSUB leg_glide '(6:20)
WAIT
GOSUB arm_breathe '(7:34)
WAIT
GOSUB fast_arms '(9:08)
WAIT
DELAY 500
GOSUB fast_arms1 '(10:10)
WAIT
DELAY 500
GOSUB arm_breathe '(11:52)
' SKIP: arm air-chops (12:12)  - IMPOSSIBLE
WAIT
GOSUB arm_circles '(12:12)
WAIT
' SKIP GOSUB arm_breathe (13:22)
WAIT
GOSUB rapid_cong ' (13:49)
WAIT
GOSUB rapid_armout'(14:04)
WAIT
GOSUB rapid_armfwd '(14:20)
WAIT
' SKIP: rapid arm circles (14:32) - IMPOSSIBLE
' SKIP: GOSUB arm_breathe '(15:01)
' SKIP: rapid arm/elbow propeller (15:19) - IMPOSSIBLE
' SKIP: GOSUB arm_breathe '(16:28)
' SKIP: elbow stretches (16:33) - IMPOSSIBLE
GOSUB bendover '(16:52)
WAIT
' SKIP: bendover/squat w/ arms out forward (18:28)
' SKIP: body-sway (19:00)
GOSUB leg_glide '(19:18)
WAIT
' SKIP: neck-bends(19:37) - IMPOSSIBLE
' SKIP: cross-arm shoulder stretch (19:54) - IMPOSSIBLE
GOSUB arch_stretch '(20:06)
WAIT
' SKIP: touch floor (20:27)
' SKIP: Squat-upps (20:41)
' SKIP: touch toes w/ arm up (21:28) - IMPOSSIBLE
GOSUB arm_breathe '(22:03)
WAIT
' SKIP: touch toes w/ side-stretching (22:22) - IMPOSSIBLE
' SKIP: arm-leg-glides (23:50) - IMPOSSIBLE
' SKIP: GOSUB arm_breathe '(24:23)
' SKIP: figure-four stretch (25:10) - IMPOSSIBLE
' SKIP: figure-four squats (26:54) - IMPOSSIBLE
' SKIP: leg-lift puppet-strings(27:08)
' SKIP: GOSUB arm_breathe '(28:52)
' SKIP: Leg-lift, out, forward, touch, and back (29:19)
' SKIP: GOSUB arm_breathe '(30:26)
GOSUB leg_touch '(30:53)
WAIT
DELAY 500
' SKIP: GOSUB arm_breathe '(31:58)
' SKIP: kick leg out/forward martial arts defend (32:23) - IMPOSSIBLE
' SKIP: GOSUB arm_breathe '(34:30)
' SKIP: chicken-dance w/ stepping (34:58) - DANCE
' SKIP: GOSUB arm_breathe '(35:04)
' SKIP: bend-jabs (35:30) - IMPOSSIBLE
' SKIP: step-jabs (36:19) - IMPOSSIBLE
' SKIP: GOSUB arm_breathe '(36:50)
' SKIP: drum-dance (37:12) - DANCE
' SKIP: line-dance (38:00) - DANCE
' SKIP: groove-dance (38:30) - DANCE
' SKIP: GOSUB arm_breathe '(39:00)
' SKIP: locomotive-dance '(39:30) - DANCE
' SKIP: scoop side-jabs '(39:48) - IMPOSSIBLE
' SKIP: combo-dance (40:32) - DANCE
GOSUB kneelingleglift '(42:00) *****
WAIT
GOSUB bridge_leglift'(43:29) *****
WAIT
GOSUB crunches '(44:40) *****
WAIT
GOSUB lay_leglift '(45:09) *****
WAIT
' SKIP: meditate, relax, and stand (47:00)


GOSUB standard_pose
	GOTO MAIN


arm_breathe:
count = 4 ' sets number of times routine is played out
GOSUB spread_legsL
	SPEED 4
	MOVE G6A,  93,  76, 145,  94, 109, 100,
	MOVE G6D,  93,  76, 145,  94, 109, 100,
  	MOVE G6B, 136,  32,  73,  ,  ,  , 
	MOVE G6C, 134,  32,  74,  ,  ,  , 

	MOVE G6A,  93,  76, 145,  94, 109, 100,
	MOVE G6D,  93,  76, 145,  94, 109, 100,
	MOVE G6B, 144,  20,  30,  ,  ,  , 
	MOVE G6C, 144,  20,  31,  ,  ,  , 
	WAIT
DELAY 250
	WAIT
FOR i = 1 TO count
	SPEED 3
	MOVE G6A,  93,  76, 145,  88, 109, 100,
	MOVE G6D,  93,  76, 145,  88, 109, 100,
	MOVE G6B, 188,  24,  12,  ,  ,  , 
	MOVE G6C, 189,  23,  12,  ,  ,  , 
	WAIT
	DELAY 500
	WAIT
	SPEED 2
	MOVE G6A,  93,  76, 145,  94, 109, 100,
	MOVE G6D,  93,  76, 145,  94, 109, 100,
	MOVE G6B, 140,  15,  37,  ,  ,  , 
	MOVE G6C, 139,  14,  37,  ,  ,  , 
	WAIT
	DELAY 250
	WAIT
NEXT i
	WAIT
DELAY 125
	SPEED 8
	MOVE G6A,  93,  76, 145,  94, 109, 100,
	MOVE G6D,  93,  76, 145,  94, 109, 100,
	MOVE G6B, 144,  20,  30,  ,  ,  , 
	MOVE G6C, 144,  20,  31,  ,  ,  , 

	SPEED 8
	MOVE G6A,  93,  76, 145,  94, 109, 100,
	MOVE G6D,  93,  76, 145,  94, 109, 100,
	MOVE G6B, 136,  32,  73,  ,  ,  , 
	MOVE G6C, 134,  32,  74,  ,  ,  , 
	WAIT
GOSUB combine_legsR
	WAIT
GOSUB standard_pose
WAIT
RETURN
'[][][][][][][][][][][][][][][][][][][][][][][][][][][][][][]

shoulder_shrug_fwd:
count = 4 ' sets number of times routine is played out
SPEED 4
FOR i = 1 TO count
	SPEED 4
	MOVE G6A, 100,  76, 145,  93, 100
	MOVE G6D, 100,  76, 145,  93, 100
	MOVE G6B,  80,  35,  75
	MOVE G6C,  80,  35,  75

	MOVE G6A, 100,  76, 145,  93, 100
	MOVE G6D, 100,  76, 145,  93, 100
	MOVE G6B,  85,  70,  40
	MOVE G6C,  85,  70,  40

	MOVE G6A, 100,  76, 145,  93, 100
	MOVE G6D, 100,  76, 145,  93, 100
	MOVE G6B, 135,  45,  55
	MOVE G6C, 135,  45,  55

	MOVE G6A, 100,  76, 145,  93, 100
	MOVE G6D, 100,  76, 145,  93, 100
	MOVE G6B, 115,  25,  85
	MOVE G6C, 115,  25,  85
NEXT i
WAIT
GOSUB standard_pose
RETURN
'[][][][][][][][][][][][][][][][][][][][][][][][][][][][][][]

shoulder_shrug_bck:
count = 4 ' sets number of times routine is played out
'SPEED 4
FOR i = 1 TO count
	SPEED 4
	MOVE G6A, 100,  76, 145,  93, 100
	MOVE G6D, 100,  76, 145,  93, 100
	MOVE G6B, 132,  23,  81
	MOVE G6C, 132,  23,  81

	MOVE G6A, 100,  76, 145,  93, 100
	MOVE G6D, 100,  76, 145,  93, 100
	MOVE G6B, 140,  64,  25
	MOVE G6C, 140,  64,  25

	MOVE G6A, 100,  76, 145,  93, 100
	MOVE G6D, 100,  76, 145,  93, 100
	MOVE G6B,  70,  81,  30
	MOVE G6C,  70,  81,  30

GOSUB standard_pose

	WAIT
NEXT i
WAIT
GOSUB standard_pose
RETURN
'[][][][][][][][][][][][][][][][][][][][][][][][][][][][][][]

spread_legsL:
	SPEED 5
	MOVE G6A,  85,  71, 152,  91, 112,  60,
	MOVE G6D, 112,  76, 145,  93,  92,  60,
	MOVE G6B, 100,  40,  80,    ,    ,    ,
	MOVE G6C, 100,  40,  80,    ,    ,    ,	
	WAIT
	SPEED 7
	MOVE G6D, 110,  92, 124,  97,  93,  70,
	MOVE G6A,  76,  72, 160,  82, 128,  70,
	MOVE G6B, 100,  35,  90,    ,    ,    ,
	MOVE G6C, 100,  35,  90,    ,    ,    ,
	WAIT
	MOVE G6A,  93,  76, 145,  94, 109, 100,
	MOVE G6D,  93,  76, 145,  94, 109, 100,
	MOVE G6B, 100,  35,  90,    ,    ,    ,
	MOVE G6C, 100,  35,  90,    ,    ,    ,
	WAIT
RETURN
'[][][][][][][][][][][][][][][][][][][][][][][][][][][][][][]

combine_legsL:
	SPEED 7
	MOVE G6A, 110,  92, 124,  97,  93,  70,
	MOVE G6D,  76,  72, 160,  82, 128,  70,
	MOVE G6B, 100,  35,  90,    ,    ,    ,
	MOVE G6C, 100,  35,  90,    ,    ,    ,
	WAIT
	SPEED 5
	MOVE G6D,  86,  83, 135,  97, 114,  60,
	MOVE G6A, 113,  78, 145,  93,  93,  60,
	MOVE G6C,  90,  40,  80,    ,    ,    , 
	MOVE G6B, 100,  40,  80,    ,    ,    , 
	WAIT
	MOVE G6D,  85,  71, 152,  91, 112,  60,
	MOVE G6A, 112,  76, 145,  93,  92,  60,
	MOVE G6C, 100,  40,  80,    ,    ,    ,
	MOVE G6B, 100,  40,  80,    ,    ,    ,
	WAIT
RETURN
'[][][][][][][][][][][][][][][][][][][][][][][][][][][][][][]

spread_legsR:
	SPEED 5
	MOVE G6D,  85,  71, 152,  91, 112, 60  
	MOVE G6A, 112,  76, 145,  93,  92, 60 
	MOVE G6C, 100,  40,  80,  ,  ,  ,
	MOVE G6B, 100,  40,  80,  ,  ,  ,
	WAIT
	SPEED 7
	MOVE G6D,  86,  83, 135,  97, 114,  60,
	MOVE G6A, 113,  78, 145,  93,  93,  60,
	MOVE G6C,  90,  40,  80,    ,    ,    , 
	MOVE G6B, 100,  40,  80,    ,    ,    , 
	WAIT
	MOVE G6D,  85,  71, 152,  91, 112,  60,
	MOVE G6A, 112,  76, 145,  93,  92,  60,
	MOVE G6C, 100,  40,  80,    ,    ,    ,
	MOVE G6B, 100,  40,  80,    ,    ,    ,
	WAIT
RETURN		
'[][][][][][][][][][][][][][][][][][][][][][][][][][][][][][]

combine_legsR:
	SPEED 7
	MOVE G6D,110,  92, 124,  97,  93,  70
	MOVE G6A, 76,  72, 160,  82, 128,  70
	MOVE G6B,100,  35,  90, , , ,
	MOVE G6C,100,  35,  90, , , ,
	WAIT
	SPEED 5
	MOVE G6A, 86,  83, 135,  97, 114,  60
	MOVE G6D,113,  78, 145,  93,  93,  60
	MOVE G6B, 90,  40,  80, , , ,
	MOVE G6C,100,  40,  80, , , ,
	WAIT
	MOVE G6A, 85,  71, 152,  91, 112,  60
	MOVE G6D,112,  76, 145,  93,  92,  60
	MOVE G6B,100,  40,  80, , , ,
	MOVE G6C,100,  40,  80, , , ,	
	WAIT
RETURN
'[][][][][][][][][][][][][][][][][][][][][][][][][][][][][][]

leg_fwd_bck:

'[][][][][][][][][][][][][][][][][][][][][][][][][][][][][][]

peverse_thrust:


'[][][][][][][][][][][][][][][][][][][][][][][][][][][][][][]

arm_glideL:

'[][][][][][][][][][][][][][][][][][][][][][][][][][][][][][]

arm_glideR:

'[][][][][][][][][][][][][][][][][][][][][][][][][][][][][][]

peek_a_boo:
count = 4  'sets number of times routine is played out
GOSUB spread_legsL
DELAY 500
SPEED 7
'setup 
MOVE G6B,  75,  50,  66
MOVE G6C, 125,  55,  71
MOVE G6A,  75,  78, 144,  96, 126
MOVE G6D, 108, 102, 101, 110,  91
	WAIT
	DELAY 250
    WAIT
FOR i = 1 TO count
'arm shift
	SPEED 12
MOVE G6B,  75,  50,  66
MOVE G6C, 125,  55,  71
	SPEED 10
MOVE G6B,  75,  50,  66
MOVE G6C, 186,  15,  20
	WAIT
	DELAY 900
	WAIT
'peek
	SPEED 5
MOVE G6A, 108, 102, 101, 114,  91
MOVE G6D,  73,  81, 136,  99, 128
MOVE G6B,  75,  50,  66
MOVE G6C, 186,  81,  11
	WAIT
	DELAY 750
	WAIT
'arm shift
	SPEED 12
MOVE G6B, 125,  55,  71
MOVE G6C,  75,  50,  66
	SPEED 10
MOVE G6B, 186,  15,  20
MOVE G6C,  75,  50,  66
	WAIT
	DELAY 900
	WAIT
'peek
	SPEED 5
MOVE G6A,  74,  81, 136,  99, 128
MOVE G6D, 109, 102, 101, 114,  91
MOVE G6B, 186,  81,  11
MOVE G6C,  75,  50,  66
	WAIT
	DELAY 750
	WAIT
NEXT i
'return
	WAIT
	DELAY 500
	SPEED 7
GOSUB combine_legsR
	WAIT
GOSUB standard_pose
	WAIT
RETURN

'[][][][][][][][][][][][][][][][][][][][][][][][][][][][][][]

hip_gyrationsL:
count = 4  'sets number of times routine is played out
	GOSUB standard_pose
	WAIT
	SPEED 6
MOVE G6B, 100,  50,  80
MOVE G6C, 100,  50,  80
WAIT
FOR i = 1 TO count
	SPEED 2
MOVE G6D,  92,  83, 142,  91, 108
MOVE G6A, 108,  88, 132,  93,  93
MOVE G6C,  90,  38,  81
MOVE G6B,  89,  27,  81
WAIT
	SPEED 3
MOVE G6A, 108,  69, 134, 117,  93
MOVE G6D,  92,  67, 141, 113, 108
MOVE G6C, 131,  38,  81
MOVE G6B, 110,  27,  81
WAIT
	SPEED 2
MOVE G6A,  92,  67, 141, 113, 108
MOVE G6D, 108,  69, 134, 117,  93
MOVE G6B, 131,  38,  81
MOVE G6C, 110,  27,  81
WAIT
	SPEED 3
MOVE G6A,  92,  83, 142,  91, 108
MOVE G6D, 108,  88, 132,  93,  93
MOVE G6B,  90,  38,  81
MOVE G6C,  89,  27,  81
WAIT
NEXT i
	GOSUB standard_pose
	WAIT
RETURN

'[][][][][][][][][][][][][][][][][][][][][][][][][][][][][][]

hip_gyrationsR:
count = 4  'sets number of times routine is played out
	GOSUB standard_pose
	WAIT
	SPEED 6
MOVE G6B, 100,  50,  80
MOVE G6C, 100,  50,  80
WAIT
FOR i = 1 TO count
	SPEED 2
MOVE G6A,  92,  83, 142,  91, 108
MOVE G6D, 108,  88, 132,  93,  93
MOVE G6B,  90,  38,  81
MOVE G6C,  89,  27,  81
WAIT
	SPEED 3
MOVE G6A,  92,  67, 141, 113, 108
MOVE G6D, 108,  69, 134, 117,  93
MOVE G6B, 131,  38,  81
MOVE G6C, 110,  27,  81
	SPEED 2
WAIT
MOVE G6A, 108,  69, 134, 117,  93
MOVE G6D,  92,  67, 141, 113, 108
MOVE G6C, 131,  38,  81
MOVE G6B, 110,  27,  81
WAIT
	SPEED 3
MOVE G6D,  92,  83, 142,  91, 108
MOVE G6A, 108,  88, 132,  93,  93
MOVE G6C,  90,  38,  81
MOVE G6B,  89,  27,  81
WAIT
NEXT i
	GOSUB standard_pose
	WAIT
RETURN
'[][][][][][][][][][][][][][][][][][][][][][][][][][][][][][]


arch_stretch:
count = 4  'sets number of times routine is played out
GOSUB spread_legsL
DELAY 500
FOR i = 1 TO count
	WAIT
	SPEED 12	
MOVE G6C, 152,  25,  52
	WAIT
MOVE G6C, 185,  11,  30
	WAIT
	SPEED 6
MOVE G6A, 113, 136,  53, 132,  84
MOVE G6D,  52,  79, 146,  95, 150
MOVE G6B,  96, 181, 166
MOVE G6C, 101,  83,  98
	WAIT
	DELAY 1000
	WAIT
	SPEED 8
MOVE G6A,  93,  76, 145,  94, 109
MOVE G6D,  93,  76, 145,  94, 109
MOVE G6B,  90, 183, 138
MOVE G6C,  90, 180, 137
	WAIT
	DELAY 1000
	WAIT
	SPEED 12	
MOVE G6B, 152,  25,  52
	WAIT
MOVE G6B, 185,  11,  30
	WAIT
	SPEED 6
MOVE G6A,  52,  79, 146,  95, 150
MOVE G6D, 113, 136,  53, 132,  84
MOVE G6B, 101,  83,  98
MOVE G6C,  96, 181, 166
	WAIT
	DELAY 1000
	WAIT
	SPEED 8
MOVE G6A,  93,  76, 145,  94, 109
MOVE G6D,  93,  76, 145,  94, 109
MOVE G6B,  90, 183, 138
MOVE G6C,  90, 180, 137
	WAIT
	DELAY 500
	WAIT
NEXT i
	WAIT
	SPEED 6
GOSUB combine_legsR
	WAIT
GOSUB standard_pose
	WAIT
RETURN
'[][][][][][][][][][][][][][][][][][][][][][][][][][][][][][]

'7:20

leg_glide:
count = 4  'sets number of times routine is played out

SPEED 2
MOVE G6A,  85,  71, 152,  91, 112
MOVE G6D, 112,  76, 145,  93,  92
MOVE G6B, 100,  41,  80
MOVE G6C, 100,  35,  80
WAIT
FOR i = 1 TO count
SPEED 4
MOVE G6A,  90, 120,  80, 118, 112
MOVE G6D, 113,  76, 145,  93,  92
MOVE G6B, 100,  41,  80
MOVE G6C, 100,  35,  80
WAIT
MOVE G6A,  90,  44, 138, 148, 112
MOVE G6D, 113,  76, 145,  86,  92
MOVE G6B,  40,  41,  80
MOVE G6C,  88,  35,  80
WAIT
DELAY 500
SPEED 6
MOVE G6A,  90, 120,  80, 118, 112
MOVE G6D, 113,  76, 145,  93,  92
MOVE G6B, 100,  41,  80
MOVE G6C, 100,  35,  80
WAIT
SPEED 4
MOVE G6A, 101, 111, 150,  35, 112
MOVE G6D, 113,  78, 145, 112,  92
MOVE G6B, 186,  41,  80
MOVE G6C, 120,  35,  80
WAIT
DELAY 500
SPEED 5
MOVE G6A,  90, 120,  80, 118, 112
MOVE G6D, 113,  76, 145,  93,  92
MOVE G6B, 100,  41,  80
MOVE G6C, 100,  35,  80
WAIT
NEXT i
SPEED 6
MOVE G6A,  85,  71, 152,  91, 112
MOVE G6D, 112,  76, 145,  93,  92
MOVE G6B, 100,  41,  80
MOVE G6C, 100,  35,  80
WAIT
SPEED 2
GOSUB standard_pose
RETURN
'[][][][][][][][][][][][][][][][][][][][][][][][][][][][][][]
'9:50
fast_arms:
SPEED 6
GOSUB spread_legsL
DELAY 500
SPEED 12
MOVE G6B, 190, 100,  12
MOVE G6C, 186,  14,  96
count = 4
FOR i = 1 TO count
HIGHSPEED SETON
SPEED 15
WAIT
MOVE G6B, 190, 100,  12
MOVE G6C, 186,  14,  96
WAIT
DELAY 500
MOVE G6B, 186,  14,  96
MOVE G6C, 190, 100,  12
WAIT
DELAY 500
NEXT i
HIGHSPEED SETOFF
WAIT
'transition
SPEED 12
MOVE G6B, 184,  30,  14
MOVE G6C, 100, 100, 100
WAIT
DELAY 500

MOVE G6B, 184,  30,  14
MOVE G6C, 190,  10, 101
WAIT
'sync start
count = 4
FOR i = 1 TO count
SPEED 8
MOVE G6B, 190,  10, 100
MOVE G6C, 160,  22,  44
WAIT
SPEED 14
WAIT
MOVE G6B, 156,  18,  44
MOVE G6C, 188,  18,  34
WAIT
HIGHSPEED SETON
SPEED 10
WAIT
MOVE G6B, 100,  66, 166
MOVE G6C, 156,  20,  36
WAIT
SPEED 15
WAIT
MOVE G6B, 100, 101, 102
MOVE G6C, 126,  50,  36
WAIT
HIGHSPEED SETOFF
DELAY 1200
SPEED 12
WAIT
MOVE G6B, 100,  66, 166
MOVE G6C, 156,  20,  36
WAIT
SPEED 10
MOVE G6B, 184,  30,  14
MOVE G6C, 190,  10, 101
WAIT
DELAY 500
'REV
MOVE G6C, 190,  10, 100
MOVE G6B, 160,  22,  44
WAIT
SPEED 14
WAIT
MOVE G6C, 156,  18,  44
MOVE G6B, 188,  18,  34
WAIT
HIGHSPEED SETON
SPEED 10
WAIT
MOVE G6C, 100,  66, 166
MOVE G6B, 156,  20,  36
WAIT
SPEED 15
MOVE G6C, 100, 101, 102
MOVE G6B, 126,  50,  36
WAIT
HIGHSPEED SETOFF
DELAY 1200
SPEED 12
WAIT
MOVE G6C, 100,  66, 166
MOVE G6B, 156,  20,  36
WAIT
SPEED 10
MOVE G6C, 184,  30,  14
MOVE G6B, 190,  10, 101
WAIT
DELAY 500
NEXT i
HIGHSPEED SETOFF
'SPEED 6
'GOSUB combine_legsR
RETURN
'[][][][][][][][][][][][][][][][][][][][][][][][][][][][][][]
fast_arms1:
SPEED 6
GOSUB spread_legsL
DELAY 500
MOVE G6B, 190, 100,  12
MOVE G6C, 186,  14,  96
WAIT
HIGHSPEED SETON
SPEED 14
WAIT
MOVE G6B, 190, 100,  12
MOVE G6C, 186,  14,  96
WAIT
DELAY 400
MOVE G6B, 186,  14,  96
MOVE G6C, 190, 100,  12
WAIT
DELAY 800
MOVE G6B, 190, 100,  12
MOVE G6C, 186,  14,  96
WAIT
DELAY 400
MOVE G6B, 186,  14,  96
MOVE G6C, 190, 100,  12
WAIT
DELAY 800
MOVE G6B, 190, 100,  12
MOVE G6C, 186,  14,  96
WAIT
DELAY 400
MOVE G6B, 186,  14,  96
MOVE G6C, 190, 100,  12
WAIT
DELAY 800
HIGHSPEED SETOFF
WAIT
count = 4
FOR i = 1 TO count
SPEED 13
MOVE G6B, 186,  14,  96
MOVE G6C, 190, 100,  12
WAIT
MOVE G6B, 159,  53,  36
MOVE G6C, 190,  42,  12
WAIT
HIGHSPEED SETON 
WAIT
SPEED 15
MOVE G6B, 184,  14,  22
MOVE G6C, 100, 100, 100
WAIT
HIGHSPEED SETOFF
DELAY 1200
WAIT
SPEED 15
MOVE G6C, 186,  14,  96
MOVE G6B, 190, 100,  12
WAIT
MOVE G6C, 159,  53,  36
MOVE G6B, 190,  42,  12
WAIT
HIGHSPEED SETON 
WAIT
SPEED 13
MOVE G6C, 184,  14,  22
MOVE G6B, 100, 100, 100
WAIT
HIGHSPEED SETOFF
DELAY 1200
WAIT
NEXT i
SPEED 6
GOSUB combine_legsR
RETURN
'[][][][][][][][][][][][][][][][][][][][][][][][][][][][][][]
fast_arms2:
'SPEED 6
'GOSUB spread_legsL
'DELAY 500
SPEED 15
MOVE G6B, 190,  20,  88
MOVE G6C, 100,  55,  40
WAIT
count = 4
FOR i = 1 TO count
MOVE G6B, 150,  16,  52
MOVE G6C, 184,  24,  42
WAIT
HIGHSPEED SETON
SPEED 15
WAIT
MOVE G6B, 150,  40,  14
MOVE G6C, 100, 110, 100
WAIT
HIGHSPEED SETOFF
WAIT
DELAY 500
MOVE G6B, 150,  16,  52
MOVE G6C, 184,  24,  42
WAIT
MOVE G6B, 190,  20,  88
MOVE G6C, 100,  55,  40
WAIT
SPEED 15
MOVE G6C, 150,  16,  52
MOVE G6B, 184,  24,  42
WAIT
HIGHSPEED SETON
SPEED 15
WAIT
MOVE G6C, 150,  40,  14
MOVE G6B, 100, 110, 100
WAIT
HIGHSPEED SETOFF
WAIT
DELAY 500
MOVE G6C, 150,  16,  52
MOVE G6B, 184,  24,  42
WAIT
MOVE G6C, 190,  20,  88
MOVE G6B, 100,  55,  40
WAIT
NEXT i
SPEED 6
GOSUB combine_legsR
RETURN
'[][][][][][][][][][][][][][][][][][][][][][][][][][][][][][]
arm_circles:
count = 3
'SPEED 6
'GOSUB spread_legsL
WAIT
DELAY 500
FOR i = 1 TO count
SPEED 10
MOVE G6A,  93,  76, 145,  94, 109
MOVE G6D,  93,  76, 145,  94, 109
MOVE G6B, 150,  35,  54
MOVE G6C, 150,  35,  54
WAIT
SPEED 15
MOVE G6A, 105,  99, 109, 110, 102
MOVE G6D,  82,  76, 145,  98, 114
MOVE G6B, 154,  16,  30
MOVE G6C,  44, 188, 110
WAIT
DELAY 500
SPEED 10
MOVE G6A,  93,  76, 145,  94, 109
MOVE G6D,  93,  76, 145,  94, 109
MOVE G6B, 150,  35,  54
MOVE G6C, 150,  35,  54
WAIT
SPEED 15
MOVE G6A,  82,  76, 145,  98, 114
MOVE G6D, 105,  99, 109, 104, 102
MOVE G6B,  44, 188, 110
MOVE G6C, 154,  16,  30
WAIT
DELAY 500
NEXT i 
SPEED 10
MOVE G6A,  93,  76, 145,  94, 109
MOVE G6D,  93,  76, 145,  94, 109
WAIT
'SPEED 6
'GOSUB combine_legsR
RETURN
'[][][][][][][][][][][][][][][][][][][][][][][][][][][][][][]
rapid_cong:
count = 30
'SPEED 6
'GOSUB spread_legsL
SPEED 10
MOVE G6B, 190,  30,  30
MOVE G6C, 190,  30,  30
WAIT
SPEED 15
FOR i = 1 TO count
MOVE G6B, 190,  24,  10
MOVE G6C, 190,  24,  10
WAIT
MOVE G6B, 190,  34,  20
MOVE G6C, 190,  34,  20
WAIT
NEXT i
SPEED 8
MOVE G6B, 190,  50,  60
MOVE G6C, 190,  50,  60
WAIT
'SPEED 6
'GOSUB combine_legsR
RETURN
'[][][][][][][][][][][][][][][][][][][][][][][][][][][][][][]
rapid_armout:
count = 10
'SPEED 6
'GOSUB spread_legsL
MOVE G6A,  93,  76, 145,  94, 109
MOVE G6D,  93,  76, 145,  94, 109
SPEED 15
FOR i = 1 TO count
MOVE G6B, 100,  54, 160
MOVE G6C, 100,  54, 160
WAIT
MOVE G6B, 100, 100, 100
MOVE G6C, 100, 100, 100
MOVE G6A, 101,  92, 116, 102, 100
MOVE G6D,  85,  85, 134,  96, 116
WAIT
MOVE G6B, 100,  54, 160
MOVE G6C, 100,  54, 160
WAIT
MOVE G6B, 100, 100, 100
MOVE G6C, 100, 100, 100
MOVE G6A,  86,  85, 134,  96, 116
MOVE G6D,  99,  92, 116, 102, 100
WAIT
NEXT i
WAIT
SPEED 6
MOVE G6A,  93,  76, 145,  94, 109
MOVE G6D,  93,  76, 145,  94, 109
WAIT
'SPEED 6
'GOSUB combine_legsR
RETURN
'[][][][][][][][][][][][][][][][][][][][][][][][][][][][][][]
rapid_armfwd:
count = 10
'SPEED 6
'GOSUB spread_legsL
MOVE G6A,  93,  76, 145,  94, 109
MOVE G6D,  93,  76, 145,  94, 109
SPEED 15
FOR i = 1 TO count
MOVE G6B, 145,  26,  82
MOVE G6C, 190,  26,  82
WAIT
MOVE G6B, 190,  30,  76
MOVE G6C, 145,  30,  76
MOVE G6A, 101,  92, 116, 102, 100
MOVE G6D,  85,  85, 134,  96, 116
WAIT
MOVE G6B, 145,  26,  82
MOVE G6C, 190,  26,  82
WAIT
MOVE G6B, 190,  30,  76
MOVE G6C, 145,  30,  76
MOVE G6A,  86,  85, 134,  96, 116
MOVE G6D,  99,  92, 116, 102, 100
NEXT i 
WAIT
SPEED 6
MOVE G6A,  93,  76, 145,  94, 109
MOVE G6D,  93,  76, 145,  94, 109
WAIT
GOSUB combine_legsR
RETURN
'[][][][][][][][][][][][][][][][][][][][][][][][][][][][][][]

'17:36
bendover:
SPEED 6
GOSUB spread_legsL
DELAY 500
SPEED 10
'full bend
MOVE G6A,  90,  44, 160, 157, 117
MOVE G6D,  89,  44, 160, 157, 117
MOVE G6B, 160,  35,  76
MOVE G6C, 160,  35,  76
WAIT
'arms in
SPEED 14
MOVE G6B, 160,  25,  11
MOVE G6C, 160,  25,  11
WAIT
	count = 2 'R arm outs
'R arm out & bend up
	FOR i = 1 TO count
MOVE G6A,  90,  44, 160, 143, 115
MOVE G6D,  90,  44, 160, 143, 115
MOVE G6B, 161,  25,  13
MOVE G6C, 160,  93,  88
WAIT
'R arm return and bend over
SPEED 9
MOVE G6A,  90,  44, 160, 157, 117
MOVE G6D,  89,  44, 160, 157, 117
MOVE G6B, 160,  25,  11
MOVE G6C, 160,  25,  11
WAIT
	NEXT i
	count = 2 'L arm outs
'L arm out & bend up
	FOR i = 1 TO count
SPEED 14
MOVE G6A,  90,  44, 160, 143, 115
MOVE G6D,  90,  44, 160, 143, 115
MOVE G6C, 161,  25,  13
MOVE G6B, 160,  93,  88
WAIT
'L arm return and bend over
SPEED 9
MOVE G6A,  90,  44, 160, 157, 117
MOVE G6D,  89,  44, 160, 157, 117
MOVE G6C, 160,  25,  11
MOVE G6B, 160,  25,  11
WAIT
	NEXT i
	count = 4 'Both arms' outs
'Both arms out & bend up
	FOR i = 1 TO count
SPEED 14
MOVE G6A,  90,  44, 160, 143, 115
MOVE G6D,  90,  44, 160, 143, 115
MOVE G6C, 160,  93,  88
MOVE G6B, 160,  93,  88
WAIT
'Both arms return and bend over
SPEED 9
MOVE G6A,  90,  44, 160, 157, 117
MOVE G6D,  89,  44, 160, 157, 117
MOVE G6C, 160,  25,  11
MOVE G6B, 160,  25,  11
WAIT
	NEXT i 
'arms to side
SPEED 11
MOVE G6B, 160,  35,  76
MOVE G6C, 160,  35,  76
WAIT
'return to leg spread
	MOVE G6A,  93,  76, 145,  94, 109, 100,
	MOVE G6D,  93,  76, 145,  94, 109, 100,
	MOVE G6B, 100,  35,  90,    ,    ,    ,
	MOVE G6C, 100,  35,  90,    ,    ,    ,


	WAIT
	SPEED 6
GOSUB combine_legsR
	WAIT
GOSUB standard_pose
	WAIT
RETURN
'[][][][][][][][][][][][][][][][][][][][][][][][][][][][][][]
leg_touch:
'	(left)
	SPEED 5
	MOVE G6A,  85,  71, 152,  91, 112,  60,
	MOVE G6D, 114,  76, 145,  93,  96,  60,
	MOVE G6B, 100,  40,  80,    ,    ,    ,
	MOVE G6C, 100,  40,  80,    ,    ,    ,	
	WAIT
	DELAY 500
count = 2
FOR i = 1 TO count
SPEED 5
MOVE G6D, 114,  76, 145,  93,  96
MOVE G6A,  85, 112,  55, 140, 112
MOVE G6C, 100,  90,  90
MOVE G6B, 182,  30,  30
WAIT
DELAY 500
SPEED 8
MOVE G6D, 114,  76, 145,  93,  96
MOVE G6A,  71,  69, 155,  90, 136
MOVE G6C, 100, 116, 116
MOVE G6B, 151,  44,  55
WAIT
DELAY 500
SPEED 6
MOVE G6D, 114,  76, 145,  93,  96
MOVE G6A,  85, 112,  55, 140, 112
MOVE G6C, 100,  90,  90
MOVE G6B, 182,  30,  30
WAIT
NEXT i
DELAY 500
	SPEED 5
	MOVE G6A, 85,  71, 152,  91, 112,  60
	MOVE G6D,114,  76, 145,  93,  92,  60
	MOVE G6B,100,  40,  80, , , ,
	MOVE G6C,100,  40,  80, , , ,	
	WAIT
GOSUB standard_pose
	WAIT
	DELAY 400
'	(right)
	SPEED 5
	MOVE G6D,  85,  71, 152,  91, 112, 60  
	MOVE G6A, 114,  76, 145,  93,  92, 60 
	MOVE G6C, 100,  40,  80,  ,  ,  ,
	MOVE G6B, 100,  40,  80,  ,  ,  ,
	WAIT
	DELAY 500
count = 2
FOR i = 1 TO count
SPEED 5
MOVE G6A, 114,  76, 145,  93,  96
MOVE G6D,  85, 112,  55, 140, 112
MOVE G6B, 100,  90,  90
MOVE G6C, 182,  30,  30
WAIT
DELAY 500
SPEED 8
MOVE G6A, 114,  76, 145,  93,  96
MOVE G6D,  71,  69, 155,  90, 136
MOVE G6B, 100, 116, 116
MOVE G6C, 151,  44,  55
WAIT
DELAY 500
SPEED 6
MOVE G6A, 114,  76, 145,  93,  96
MOVE G6D,  85, 112,  55, 140, 112
MOVE G6B, 100,  90,  90
MOVE G6C, 182,  30,  30
DELAY 500
WAIT
NEXT i
WAIT
DELAY 500
	SPEED 5
	MOVE G6D, 85,  71, 152,  91, 112,  60
	MOVE G6A,114,  76, 145,  93,  92,  60
	MOVE G6C,100,  40,  80, , , ,
	MOVE G6B,100,  40,  80, , , ,	
	WAIT
GOSUB standard_pose
	WAIT
RETURN
'[][][][][][][][][][][][][][][][][][][][][][][][][][][][][][]

kneelingleglift:
SPEED 10
	SPEED 10
	MOVE G6A, 100, 155,  25, 140, 100, 100
	MOVE G6D, 100, 155,  25, 140, 100, 100
	MOVE G6B, 130,  50,  85, 100, 100, 100
	MOVE G6C, 130,  50,  85, 100, 100, 100
	WAIT
	MOVE G6A,  60, 165,  25, 160, 145, 100
	MOVE G6D,  60, 165,  25, 160, 145, 100
	MOVE G6B, 150,  60,  90, 100, 100, 100
	MOVE G6C, 150,  60,  90, 100, 100, 100
	WAIT
	MOVE G6A,  60, 165,  30, 165, 155, 100
	MOVE G6D,  60, 165,  30, 165, 155, 100
	MOVE G6B, 170,  10, 100, 100, 100, 100
	MOVE G6C, 170,  10, 100, 100, 100, 100
	WAIT
	SPEED 3
	MOVE G6A,  75, 165,  55, 165, 155, 100
	MOVE G6D,  75, 165,  55, 165, 155, 100
	MOVE G6B, 185,  10, 100, 100, 100, 100
	MOVE G6C, 185,  10, 100, 100, 100, 100
	WAIT
	SPEED 10
	MOVE G6A,  80, 155,  85, 150, 150, 100
	MOVE G6D,  80, 155,  85, 150, 150, 100
	MOVE G6B, 185,  40, 60,  100, 100, 100
	MOVE G6C, 185,  40, 60,  100, 100, 100
	WAIT
MOVE G6A, 100, 166,  72, 158, 100
MOVE G6D, 100, 166,  72, 158, 100
MOVE G6B, 185,  90,  12
MOVE G6C, 185,  90,  12
WAIT
MOVE G6A, 100, 135, 121, 158, 100
MOVE G6D, 101, 165,  24, 152, 100
MOVE G6B, 190,  90,  12
MOVE G6C, 190,  90,  12
WAIT
count = 4
FOR i = 1 TO count
MOVE G6A, 100, 125, 134, 158, 100
MOVE G6D, 101,  14, 174,  38, 100
MOVE G6B, 190,  90,  12
MOVE G6C, 190,  90,  12
WAIT
MOVE G6A, 100, 135, 121, 158, 100
MOVE G6D, 101, 165,  24, 152, 100
MOVE G6B, 190,  90,  12
MOVE G6C, 190,  90,  12
WAIT
NEXT i
WAIT
MOVE G6D, 100, 166,  72, 158, 100
MOVE G6A, 100, 166,  72, 158, 100
MOVE G6B, 185,  90,  12
MOVE G6C, 185,  90,  12
WAIT
MOVE G6D, 100, 135, 121, 158, 100
MOVE G6A, 101, 165,  24, 152, 100
MOVE G6B, 190,  90,  12
MOVE G6C, 190,  90,  12
WAIT
count = 4
FOR i = 1 TO count
MOVE G6D, 100, 125, 134, 158, 100
MOVE G6A, 101,  14, 174,  38, 100
MOVE G6B, 190,  90,  12
MOVE G6C, 190,  90,  12
WAIT
MOVE G6D, 100, 135, 121, 158, 100
MOVE G6A, 101, 165,  24, 152, 100
MOVE G6B, 190,  90,  12
MOVE G6C, 190,  90,  12
WAIT
NEXT i
WAIT
MOVE G6D, 100, 166,  72, 158, 100
MOVE G6A, 100, 166,  72, 158, 100
WAIT
SPEED 10
	MOVE G6A,  80, 155,  85, 150, 150, 100
	MOVE G6D,  80, 155,  85, 150, 150, 100
	MOVE G6B, 185,  40, 60,  100, 100, 100
	MOVE G6C, 185,  40, 60,  100, 100, 100
	WAIT
	MOVE G6A,  75, 165,  55, 165, 155, 100
	MOVE G6D,  75, 165,  55, 165, 155, 100
	MOVE G6B, 185,  10, 100, 100, 100, 100
	MOVE G6C, 185,  10, 100, 100, 100, 100
	WAIT	
	MOVE G6A,  60, 165,  30, 165, 155, 100
	MOVE G6D,  60, 165,  30, 165, 155, 100
	MOVE G6B, 170,  10, 100, 100, 100, 100
	MOVE G6C, 170,  10, 100, 100, 100, 100
	WAIT	
	MOVE G6A,  60, 165,  25, 160, 145, 100
	MOVE G6D,  60, 165,  25, 160, 145, 100
	MOVE G6B, 150,  60,  90, 100, 100, 100
	MOVE G6C, 150,  60,  90, 100, 100, 100
	WAIT	
	MOVE G6A, 100, 155,  25, 140, 100, 100
	MOVE G6D, 100, 155,  25, 140, 100, 100
	MOVE G6B, 130,  50,  85, 100, 100, 100
	MOVE G6C, 130,  50,  85, 100, 100, 100
	WAIT
	GOSUB standard_pose
	WAIT
RETURN

bridge_leglift:
SPEED 10
MOVE G6A, 101, 143,  24, 145, 100
MOVE G6D, 102, 143,  24, 145, 100
MOVE G6B, 50,  30,  82
MOVE G6C, 50,  30,  82
WAIT
SPEED 9
MOVE G6A, 103, 128,  42,  77,  99
MOVE G6D, 103, 128,  42,  77,  99
MOVE G6B,  10,  30,  80
MOVE G6C,  10,  30,  80
WAIT
MOVE G6A, 103, 112,  58,  55, 100
MOVE G6D, 103, 112,  58,  57, 100
MOVE G6B,  10,  80,  30
MOVE G6C,  10,  80,  30
WAIT
SPEED 8
MOVE G6A, 103, 130,  25,  70, 100
MOVE G6D, 103, 112,  58,  57, 100
MOVE G6B,  10,  80,  30
MOVE G6C,  10,  80,  30
WAIT
MOVE G6A, 103, 145,  25, 116, 100
MOVE G6D, 103, 112,  58,  57, 100
MOVE G6B,  10,  80,  30
MOVE G6C,  10,  80,  30
WAIT
count = 4
FOR i = 1 TO count
SPEED 6
MOVE G6A, 103,  10, 150,  90, 100
MOVE G6D, 103, 112,  58,  57, 100
MOVE G6B,  10,  80,  30
MOVE G6C,  10,  80,  30
WAIT
MOVE G6A, 103,  63, 150, 148, 100
MOVE G6D, 103, 112,  58,  57, 100
MOVE G6B,  10,  80,  30
MOVE G6C,  10,  80,  30
WAIT
NEXT i
WAIT
SPEED 8
MOVE G6A, 103, 145,  25, 116, 100
MOVE G6D, 103, 112,  58,  57, 100
MOVE G6B,  10,  80,  30
MOVE G6C,  10,  80,  30
WAIT
MOVE G6A, 103, 130,  25,  70, 100
MOVE G6D, 103, 112,  58,  57, 100
MOVE G6B,  10,  80,  30
MOVE G6C,  10,  80,  30
WAIT
MOVE G6A, 103, 112,  58,  55, 100
MOVE G6D, 103, 112,  58,  57, 100
MOVE G6B,  10,  80,  30
MOVE G6C,  10,  80,  30
WAIT

MOVE G6D, 103, 130,  25,  70, 100
MOVE G6A, 103, 112,  58,  57, 100
MOVE G6B,  10,  80,  30
MOVE G6C,  10,  80,  30
WAIT
MOVE G6D, 103, 145,  25, 116, 100
MOVE G6A, 103, 112,  58,  57, 100
MOVE G6B,  10,  80,  30
MOVE G6C,  10,  80,  30
WAIT
count = 4
FOR i = 1 TO count
SPEED 6
MOVE G6D, 103,  10, 150,  90, 100
MOVE G6A, 103, 112,  58,  57, 100
MOVE G6B,  10,  80,  30
MOVE G6C,  10,  80,  30
WAIT
MOVE G6D, 103,  63, 150, 148, 100
MOVE G6A, 103, 112,  58,  57, 100
MOVE G6B,  10,  80,  30
MOVE G6C,  10,  80,  30
WAIT
NEXT i
WAIT
SPEED 8
MOVE G6D, 103, 145,  25, 116, 100
MOVE G6A, 103, 112,  58,  57, 100
MOVE G6B,  10,  80,  30
MOVE G6C,  10,  80,  30
WAIT
MOVE G6D, 103, 130,  25,  70, 100
MOVE G6A, 103, 112,  58,  57, 100
MOVE G6B,  10,  80,  30
MOVE G6C,  10,  80,  30
WAIT
MOVE G6D, 103, 112,  58,  55, 100
MOVE G6A, 103, 112,  58,  57, 100
MOVE G6B,  10,  80,  30
MOVE G6C,  10,  80,  30
WAIT
DELAY 1000
RETURN


crunches:
SPEED 8
MOVE G6A, 103,  25, 120,  82, 100
MOVE G6D, 103,  25, 120,  82, 100
MOVE G6B,  12,  90,  30
MOVE G6C,  12,  90,  30
WAIT
MOVE G6A, 103,  12, 105, 117, 100
MOVE G6D, 103,  12, 105, 117, 100
MOVE G6B,  13, 109,  55
MOVE G6C,  19, 112,  53
WAIT
MOVE G6A, 100,  12, 142, 144, 100
MOVE G6D, 100,  12, 142, 144, 100
MOVE G6B, 150,  11, 100
MOVE G6C, 150,  11, 100
WAIT
count = 4
FOR i = 1 TO count
SPEED 7
MOVE G6A, 101,  11, 142,  97, 100
MOVE G6D, 101,  11, 142,  97, 100
MOVE G6B, 188,  20,  90
MOVE G6C, 188,  20,  90
WAIT
DELAY 500
MOVE G6A, 101,  10, 148, 138, 100
MOVE G6D, 101,  10, 148, 138, 100
MOVE G6B, 160,  10,  80
MOVE G6C, 160,  10,  80
WAIT
DELAY 250
NEXT i 
SPEED 8
MOVE G6A, 103,  12, 105, 117, 100
MOVE G6D, 103,  12, 105, 117, 100
MOVE G6B, 150,  11, 100
MOVE G6C, 150,  11, 100
WAIT
DELAY 500
RETURN

lay_leglift:
SPEED 7
MOVE G6A, 103,  40,  75,  99, 100
MOVE G6D, 103,  40,  75,  99, 100
MOVE G6B, 150, 120, 100
MOVE G6C, 150, 120, 100
WAIT
MOVE G6A, 103,  38,  50, 136, 100
MOVE G6D, 103,  40,  75,  99, 100
MOVE G6B, 150, 120, 100
MOVE G6C, 150, 120, 100
WAIT
count = 4
SPEED 10
FOR i = 1 TO count
MOVE G6A, 103,  12, 126, 155, 100
MOVE G6D, 103,  40,  75,  99, 100
WAIT
MOVE G6A, 103,  12, 188, 156, 100
MOVE G6D, 103,  40,  75,  99, 100
WAIT
MOVE G6A, 103,  12, 126, 155, 100
MOVE G6D, 103,  40,  75,  99, 100
WAIT
MOVE G6A, 103,  38,  50, 136, 100
MOVE G6D, 103,  40,  75,  99, 100
WAIT
NEXT i 
WAIT
MOVE G6A, 103,  40,  75,  99, 100
MOVE G6D, 103,  40,  75,  99, 100
WAIT

MOVE G6D, 103,  38,  50, 136, 100
MOVE G6A, 103,  40,  75,  99, 100
MOVE G6B, 150, 120, 100
MOVE G6C, 150, 120, 100
WAIT
count = 4
SPEED 10
FOR i = 1 TO count
MOVE G6D, 103,  12, 126, 155, 100
MOVE G6A, 103,  40,  75,  99, 100
WAIT
MOVE G6D, 103,  12, 188, 156, 100
MOVE G6A, 103,  40,  75,  99, 100
WAIT
MOVE G6D, 103,  12, 126, 155, 100
MOVE G6A, 103,  40,  75,  99, 100
WAIT
MOVE G6D, 103,  38,  50, 136, 100
MOVE G6A, 103,  40,  75,  99, 100
WAIT
NEXT i 
WAIT
MOVE G6D, 103,  40,  75,  99, 100
MOVE G6A, 103,  40,  75,  99, 100
WAIT
MOVE G6A, 100, 130, 120,  80, 110, 100
MOVE G6D, 100, 130, 120,  80, 110, 100
MOVE G6B, 130, 160,  10, 100, 100, 100
MOVE G6C, 130, 160,  10, 100, 100, 100
WAIT
	SPEED 10
	
	MOVE G6A,100,  10, 100, 115, 100, 100
	MOVE G6D,100,  10, 100, 115, 100, 100
	MOVE G6B,100, 130,  10, 100, 100, 100
	MOVE G6C,100, 130,  10, 100, 100, 100
	WAIT

	MOVE G6A,100,  10,  83, 140, 100, 100
	MOVE G6D,100,  10,  83, 140, 100, 100
	MOVE G6B, 20, 130,  10, 100, 100, 100
	MOVE G6C, 20, 130,  10, 100, 100, 100
	WAIT

	MOVE G6A,100, 126,  60,  50, 100, 100
	MOVE G6D,100, 126,  60,  50, 100, 100
	MOVE G6B, 20,  30,  90, 100, 100, 100
	MOVE G6C, 20,  30,  90, 100, 100, 100
	WAIT
	
	MOVE G6A,100, 165,  70,  15, 100, 100
	MOVE G6D,100, 165,  70,  15, 100, 100
	MOVE G6B, 30,  20,  95, 100, 100, 100
	MOVE G6C, 30,  20,  95, 100, 100, 100
	WAIT
	
	MOVE G6A,100, 165,  40, 100, 100, 100
	MOVE G6D,100, 165,  40, 100, 100, 100
	MOVE G6B,110,  70,  50, 100, 100, 100
	MOVE G6C,110,  70,  50, 100, 100, 100
	WAIT
	
	GOSUB standard_pose
	RETURN




'================================================
standard_pose:
	MOVE G6A, 100,  76, 145,  93, 100, 100 
	MOVE G6D, 100,  76, 145,  93, 100, 100  
	MOVE G6B, 100,  30,  80, 100, 100, 100
	MOVE G6C, 100,  30,  80, 100, 100, 100
	WAIT
	RETURN
'================================================