--- a/ubob.lua	Fri Jan 16 15:01:22 2015 +0100
+++ b/ubob.lua	Fri Jan 16 16:20:10 2015 +0100
@@ -1,60 +1,70 @@
-SWAY_TRIM = 96;
-LEFT_TRIM = 88;
-RIGHT_TRIM = 94;
+POSES = {{0, 10, 10}, {15, 10, 10}, {15, -10, -10}, {0, -10, -10}, {-15, -10, -10}, {-15, 10, 10}}
 
-sway_pos = 0;
-left_pos = 0;
-right_pos = 0;
-moving = false;
+sway_pos = 0
+left_pos = 0
+right_pos = 0
+pose_step = 1
 
-sway = 0;
-left = 0;
-right = 0;
+sway = 0
+left = 0
+right = 0
 
 
 function start()
-    pwm.setup(5, 60, 94);
-    pwm.setup(6, 60, 88);
-    pwm.setup(7, 60, 96);
-    pwm.start(5);
-    pwm.start(6);
-    pwm.start(7);
+    pwm.setup(5, 60, 94)
+    pwm.setup(6, 60, 88)
+    pwm.setup(7, 60, 96)
+    pwm.start(5)
+    pwm.start(6)
+    pwm.start(7)
 
-    tmr.alarm(5, 25, 1, update);
-end;
+    tmr.alarm(5, 25, 1, update)
+end
+
 
 function next_pose()
+    local pose = 0
+    pose_step = pose_step + 1
+    pose = POSES[pose_step]
+    if pose == nil then
+        pose_step = 1
+        pose = POSES[pose_step]
+    end
+    sway = pose[1]
+    left = pose[2]
+    right = pose[3]
 end
 
+
 function update()
-    moving = false;
+    local moving = false
     if sway > sway_pos then
-        sway_pos = sway_pos + 1;
-        moving = true;
+        sway_pos = sway_pos + 1
+        moving = true
     elseif sway < sway_pos then
-        sway_pos = sway_pos - 1;
-        moving = true;
+        sway_pos = sway_pos - 1
+        moving = true
     end
     if left > left_pos then
-        left_pos = left_pos + 1;
-        moving = true;
+        left_pos = left_pos + 1
+        moving = true
     elseif left < left_pos then
-        left_pos = left_pos - 1;
-        moving = true;
+        left_pos = left_pos - 1
+        moving = true
     end
     if right > right_pos then
-        right_pos = right_pos + 1;
-        moving = true;
+        right_pos = right_pos + 1
+        moving = true
     elseif right < right_pos then
-        right_pos = right_pos - 1;
-        moving = true;
+        right_pos = right_pos - 1
+        moving = true
     end
 
     if moving == false then
-        next_pose();
+        next_pose()
     end
 
-    pwm.setduty(7, SWAY_TRIM + sway_pos);
-    pwm.setduty(6, LEFT_TRIM + left_pos);
-    pwm.setduty(5, RIGHT_TRIM + right_pos);
+    pwm.setduty(7, 96 + sway_pos)
+    pwm.setduty(6, 88 + left_pos)
+    pwm.setduty(5, 94 + right_pos)
 end