function init()

	LegFLTop = FindJoint("LegFLTop")
	LegFLBot = FindJoint("LegFLBot")
	LegBLTop = FindJoint("LegBLTop")
	LegBLBot = FindJoint("LegBLBot")
	
	LegFRTop = FindJoint("LegFRTop")
	LegFRBot = FindJoint("LegFRBot")
	LegBRTop = FindJoint("LegBRTop")
	LegBRBot = FindJoint("LegBRBot")
	
	Head = FindJoint("Head")
	
	movespeedmodifier = 5
	framemovespeedmodifier = 5
	motoranglemodifier = 1
	motorspeed = 0
	
	-- 0 stop
	-- 1 idle
	-- 2 forward 
	-- 3 backward
	
	framecount = math.random(0, 1)
	
	GlobalDriveStageEscape = 1	
	
	
end


function tick(dt)
	
	framecount = framecount + dt*framemovespeedmodifier
	
	if GetString("level.state") == "win" then
		MaskShapes = FindShapes()
		for i=1, #MaskShapes do
			SetShapeCollisionFilter(MaskShapes[i], 0, 0)
		end
		GlobalDriveStageEscape = 2
		
	end
	
-- Idle sequence
	if GlobalDriveStageEscape == 1 then

			movespeedmodifier = 5
	
		-- Front Left Leg

		if framecount > 1 then
			jointname = LegFLTop
			motorangle = -30
			motorspeed = 1
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
		if framecount > 1 then
			jointname = LegFLBot
			motorangle = 30
			motorspeed = 1
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
		if framecount > 6 then
			jointname = LegFLBot
			motorangle = 0
			motorspeed = 1
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
		if framecount > 6 then
			jointname = LegFLTop
			motorangle = 0
			motorspeed = 1
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
		
	-- Front Right  Leg

		if framecount > 6 then
			jointname = LegFRTop
			motorangle = -30
			motorspeed = 1
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
		if framecount > 6 then
			jointname = LegFRBot
			motorangle = 30
			motorspeed = 1
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
		if framecount > 8 then
			jointname = LegFRTop
			motorangle = 0
			motorspeed = 1
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
		if framecount > 8 then
			jointname = LegFRBot
			motorangle = 0
			motorspeed = 1
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end

	-- Back Left Leg

		if framecount > 1 then
			jointname = LegBLTop
			motorangle = 0
			motorspeed = 1
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
		if framecount > 1 then
			jointname = LegBLBot
			motorangle = 0
			motorspeed = 1
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
		
	-- Back Right Leg

		if framecount > 1 then
			jointname = LegBRTop
			motorangle = 0
			motorspeed = 1.5
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
		if framecount > 1 then
			jointname = LegBRBot
			motorangle = 0
			motorspeed = 1.5
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
				
	-- Head
		if framecount > 1 then
			jointname = Head
			motorangle = 10
			motorspeed = 1
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
		
		if framecount > 5 then
			jointname = Head
			motorangle = 0
			motorspeed = 1
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
		if framecount > 16 then
			jointname = Head
			motorangle = 10
			motorspeed = 1
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
		
		if framecount > 20 then
			jointname = Head
			motorangle = 0
			motorspeed = 1
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
		-- Animation Reset
		if framecount > 24 then
			framecount = math.random(0, 5)
		end
	end

-- Forward sequence
	if GlobalDriveStageEscape == 2 then
		
	-- Front Left Leg

		if framecount > 1 then
			jointname = LegFLTop
			motorangle = -45
			motorspeed = 1
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
		if framecount > 1 then
			jointname = LegFLBot
			motorangle = 45
			motorspeed = 1
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
		if framecount > 3 then
			jointname = LegFLBot
			motorangle = 10
			motorspeed = 1
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
		if framecount > 3 then
			jointname = LegFLTop
			motorangle = 45
			motorspeed = 1
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end

	-- Front Right  Leg

		if framecount > 1 then
			jointname = LegFRTop
			motorangle = 45
			motorspeed = 1
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
		if framecount > 1 then
			jointname = LegFRBot
			motorangle = 10
			motorspeed = 1
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
			if framecount > 3 then
			jointname = LegFRBot
			motorangle = 45
			motorspeed = 1
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
		if framecount > 3 then
			jointname = LegFRTop
			motorangle = -45
			motorspeed = 1
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end

	-- Back Left Leg

		if framecount > 1 then
			jointname = LegBLTop
			motorangle = 0
			motorspeed = 1
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
		if framecount > 1 then
			jointname = LegBLBot
			motorangle = 10
			motorspeed = 1
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
			if framecount > 3 then
			jointname = LegBLBot
			motorangle = 60
			motorspeed = 1.5
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
		if framecount > 3 then
			jointname = LegBLTop
			motorangle = -60
			motorspeed = 1.5
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end

	-- Back Right Leg

		if framecount > 1 then
			jointname = LegBRTop
			motorangle = -60
			motorspeed = 1.5
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
		if framecount > 1 then
			jointname = LegBRBot
			motorangle = 60
			motorspeed = 1.5
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
			if framecount > 3 then
			jointname = LegBRBot
			motorangle = 10
			motorspeed = 1.5
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
		if framecount > 3 then
			jointname = LegBRTop
			motorangle = 0
			motorspeed = 1.5
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
		
	-- Head
		if framecount > 1 then
			jointname = Head
			motorangle = 10
			motorspeed = 1
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
		
			if framecount > 3 then
			jointname = Head
			motorangle = 0
			motorspeed = 1
			
			SetJointMotorTarget(jointname, motorangle*motoranglemodifier, motorspeed*movespeedmodifier)		
		end
		
		-- Animation Reset
		if framecount > 4 then
			framecount = math.random(0, 1)
		end
	end
	
end