function Create(self)
   --Initialize some variables that will get used later.self.FrontVec = Vector(self.Pos.X + 50,self.Pos.Y);
   self.BackVec = Vector(self.Pos.X + 50,self.Pos.Y);
   self.timer = Timer();
end


function Update(self)
--Start our loop, every 10ms.
if self.timer:IsPastSimMS(10) then

   --Sensor distances.  It's crucial that they're positioned about as long as the body.
   --Longer than the body results in some oversteer later, which may be good or bad.
   --Shorter results in understeer and depending on depth test...
   --...may give you really bad results ;-)
   self.FrontVec.X = self.Pos.X + 8;
   self.FrontVec.Y = self.Pos.Y;
   self.BackVec.X = self.Pos.X - 8;
   self.BackVec.Y = self.Pos.Y;
   
   --Must kick Actor out of the terrain pixels slightly to avoid binding forces
   self:MoveOutOfTerrain(3)
   --Set up the data collection from our altitude sensors
   --Uses 100 pixel check here, but you can use shorter values if small character...
   --...which will greatly decrease the costs, as this is fairly expensive.
   local frontAlt = SceneMan:FindAltitude(self.FrontVec, 100, 0)
   local backAlt = SceneMan:FindAltitude(self.BackVec, 100, 0)
   --If we don't get a hit from FindAltitude, give it a value that tells the code...
   --...to adjust accordingly and not fail.
   if frontAlt == nil then frontAlt = -100 end
   if backAlt == nil then backAlt = -100 end
   --Get the relative altitudes for the front and back sensors.
   local groundFrontAlt = math.abs(self.Pos.Y - frontAlt)
   local groundBackAlt = math.abs(self.Pos.Y - backAlt)
   
   --Moves altitude slightly upwards where it's necessary.
   --Important bit here- adjust the altitude value until it's stable and not too floaty.
   --This specific altitude is slightly lower than the midpoint of the sprite.
   local centerAlt = self:GetAltitude(0,0)
   if (centerAlt < 16 or frontAlt < 16 or backAlt < 16) and centerAlt > -5 then
      self.Pos.Y = self.Pos.Y - 1;
      self.Vel.Y = self.Vel.Y - 0.1
   end

   --Brute-force change in velocity over time.
   --If accel is set really high, bad things will happen ;-)
   local speed_max = 8.0
   local accel = 1.0
   if self:GetController():IsState(Controller.MOVE_LEFT) then
      self.Vel.X = math.max(self.Vel.X - accel,-speed_max)
   end
   if self:GetController():IsState(Controller.MOVE_RIGHT) then
      self.Vel.X = math.min(self.Vel.X + accel,speed_max)
   end   
   
   --Rotational control; provides some rotational force over time to raise/lower the body.
   --Note that the back control is stronger than the front, because of some lame body-lean...
   --...that is apparently hard-coded into ACrab skeletal sim :-/
   if self.HFlipped then
      --print("flipped")
      if math.abs(groundFrontAlt - groundBackAlt) < 1 then
         if groundFrontAlt > groundBackAlt then
            --print("front is higher than back")
            self.AngularVel = math.min(self.AngularVel + 0.05,0.25)
         end
         
         if groundFrontAlt < groundBackAlt then
            --print("back is higher than front")
            self.AngularVel = math.max(self.AngularVel - 0.1,-0.375)
         end
      else
         if groundFrontAlt > groundBackAlt then
            --print("front is higher than back")
            self.AngularVel = math.min(self.AngularVel + 0.1,0.5)
         end
         
         if groundFrontAlt < groundBackAlt then
            --print("back is higher than front")
            self.AngularVel = math.max(self.AngularVel - 0.2,-0.75)
         end
      end
   else
      --print("not flipped")
      if math.abs(groundFrontAlt - groundBackAlt) < 1 then      
         if groundFrontAlt > groundBackAlt then
            --print("front is higher than back")
            self.AngularVel = math.min(self.AngularVel + 0.1,0.375)
         end
         
         if groundFrontAlt < groundBackAlt then
            --print("back is higher than front")
            self.AngularVel = math.max(self.AngularVel - 0.05,-0.25)
         end      
      else
         if groundFrontAlt > groundBackAlt then
            --print("front is higher than back")
            self.AngularVel = math.min(self.AngularVel + 0.2,0.75)
            
         end
         
         if groundFrontAlt < groundBackAlt then
            --print("back is higher than front")
            self.AngularVel = math.max(self.AngularVel - 0.1,-0.5)
         end         
      end   
   end
   
   --Brute-force adjustments of RotAngles, to prevent funky behaviors.
   if self.RotAngle > 0.4 then
      self.RotAngle = 0.4
   end   
   if self.RotAngle < - 0.4 then
      self.RotAngle = - 0.4
   end      
   --It's flatter, use less RotAngle.
   if math.abs(groundFrontAlt - groundBackAlt) < 10 then
      if self.RotAngle > 0.2 then
         self.RotAngle = 0.2
      end   
      if self.RotAngle < - 0.2 then
         self.RotAngle = - 0.2
      end      
   end      
   --It's really flat, do not allow rotational forces to screw it up.
   if math.abs(groundFrontAlt - groundBackAlt) < 5 then
      if self.RotAngle > 0.1 then
         self.RotAngle = 0.1
      end   
      if self.RotAngle < - 0.1 then
         self.RotAngle = - 0.1
      end      
   end
   --Reset our 10ms timer
   self.timer:Reset();
--End our loop
end
--End the Update() cycle
end