text: var Thread = Java.type("java.lang.Thread");
  
  function execute() {
      out("Hexapod go to Belly position.  File= 01__hexbot-go-to-belly.js");
  	
      myTWIPe = "Hexbot3C61054ADD98/commands"     // Doug's bot
  //	myTWIPe = "calServoCC50E394F048/commands"     // Andrew's bot
  	
  	// clear any previous flow
  	send("fg,0,0")
  	
  	// go to the lying on belly position, with legs 3.5 cm above home position
  	// since this is the first flow row, we jump to it directly, then pause for 340 msec
  	// start with neutral position, to avoid crashing to floor
  	send("fl,300,3,10,0,0,0, 0,0,0, 0,0,0, 0,0,0, 0,0,0, 0,0,0, 0,0,0")
  	send("fl,1000,3,10,0,0,0, 0,0,3.5, 0,0,3.5, 0,0,3.5, 0,0,3.5, 0,0,3.5, 0,0,3.5")
  	//
  	// now that we've defined the flow, execute it
  	send("fg,1,50,1")          // start er up, 20 msec, move toes and don't print coords for each frame
  
      action.setExitCode(0);
      action.setResultText("done.");
      out("Parameter parameter set up complete");
      return action;
  }
  function send(cmd){
  	out(cmd);
  	mqttManager.publish(myTWIPe, cmd);
  	Thread.sleep(100);
  }
  function out(message){
       output.print(message);
  }
  