diff --git a/examples/SimpleSineMovement.cpp b/examples/SimpleSineMovement.cpp
index 155c391..2683834 100644
--- a/examples/SimpleSineMovement.cpp
+++ b/examples/SimpleSineMovement.cpp
@@ -1,72 +1,89 @@
 #include <iostream>
 #include <fstream>
 
 #include <stdlib.h>
 #include <math.h>
 
 #include <rsc/misc/langutils.h>
 
 #include <rci/dto/JointAngles.h>
 
 #include "liboncilla/Oncilla.h"
 #include "liboncilla/OncillaL1L2.h"
 #include "liboncilla/OncillaSynchronizer.h"
 
 using namespace std;
 using namespace boost;
 
 using namespace rci;
 using namespace rci::oncilla;
 
+double hip_position(double phase,double amplitude,double offset){
+	return amplitude * std::cos(phase) + offset;
+}
+
+double knee_position(double phase, double phase_lag,double amplitude,double offset){
+	return amplitude *((phase + phase_lag) > M_PI ? 1.0 : 0.0) + offset;
+}
+
 int main() {
-	double amplitude_rad = 1.0;
-	double frequency_Hz = 1.0;
 
 	// Instantiate the actual robot object
 	Oncilla oncilla;
 
 	// Get the synchronizer, so that we can control the actual simulation
 	// stepping from within our code
 	OncillaSynchronizerPtr synchronizer = oncilla.getSynchronizer();
 
 	// Get all the joints we are interested in - L1 and L2
 	OncillaL1Ptr left_fore_hip = oncilla.getL1(Oncilla::LEFT_FORE);
 	OncillaL2Ptr left_fore_knee = oncilla.getL2(Oncilla::LEFT_FORE);
 	OncillaL1Ptr right_fore_hip = oncilla.getL1(Oncilla::RIGHT_FORE);
 	OncillaL2Ptr right_fore_knee = oncilla.getL2(Oncilla::RIGHT_FORE);
 	OncillaL1Ptr left_hind_hip = oncilla.getL1(Oncilla::LEFT_HIND);
 	OncillaL2Ptr left_hind_knee = oncilla.getL2(Oncilla::LEFT_HIND);
 	OncillaL1Ptr right_hind_hip = oncilla.getL1(Oncilla::RIGHT_HIND);
 	OncillaL2Ptr right_hind_knee = oncilla.getL2(Oncilla::RIGHT_HIND);
 
+	//sets some parameter for the sinewave
+	double hip_amplitude(30),
+	       fore_hip_offset(0),
+	       hind_hip_offset(0),
+	       fore_knee_amplitude(0.5),
+	       fore_knee_offset(0),
+	       hind_knee_amplitude(0),
+	       hind_knee_offset(0),
+	       fore_hip_knee_phase_lag(0),
+	       hind_hip_knee_phase_lag(0),
+	       frequency(1.5);
 	// Now move the joints
-	double time_s, phase1, phase2;
-	JointAnglesPtr hip1, hip2, knee1, knee2;
+	double time_s, phase, antiphase;
+
+
+	time_s = 0;
 	while (true) {
 		// The time is our phase - TODO: Use virtual / simulated time
-		time_s = rsc::misc::currentTimeMicros() / 1000;
-		phase1 = time_s * frequency_Hz;
-		phase2 = (time_s + 0.5) * frequency_Hz;
+		time_s += synchronizer->latestProcessLoopDuration();
+		phase = std::fmod(time_s * frequency * 2 * M_PI, 2 * M_PI);
+
+		antiphase = std::fmod(phase + M_PI , 2 * M_PI);
+
+		left_fore_hip->setJointPosition(JointAngles::fromDeg(hip_position(phase,hip_amplitude,fore_hip_offset)));
+		left_fore_knee->setJointPosition(JointAngles::fromRad(knee_position(phase,fore_hip_knee_phase_lag,fore_knee_amplitude,fore_knee_offset)));
 
-		hip1 = JointAngles::fromRad(amplitude_rad * sin(phase1));
-		left_fore_hip->setJointPosition(hip1);
-		right_hind_hip->setJointPosition(hip1);
+		right_fore_hip->setJointPosition(JointAngles::fromDeg(hip_position(antiphase,hip_amplitude,fore_hip_offset)));
+		right_fore_knee->setJointPosition(JointAngles::fromRad(knee_position(antiphase,fore_hip_knee_phase_lag,fore_knee_amplitude,fore_knee_offset)));
 
-		hip2 = JointAngles::fromRad(amplitude_rad * sin(phase2));
-		left_hind_hip->setJointPosition(hip2);
-		right_fore_hip->setJointPosition(hip2);
+		left_fore_hip->setJointPosition(JointAngles::fromDeg(hip_position(antiphase,hip_amplitude,hind_hip_offset)));
+		left_fore_knee->setJointPosition(JointAngles::fromRad(knee_position(antiphase,hind_hip_knee_phase_lag,hind_knee_amplitude,hind_knee_offset)));
 
-		knee1 = JointAngles::fromRad(amplitude_rad * sin(phase1));
-		left_fore_knee->setJointPosition(knee1);
-		right_hind_knee->setJointPosition(knee1);
+		right_fore_hip->setJointPosition(JointAngles::fromDeg(hip_position(phase,hip_amplitude,hind_hip_offset)));
+		right_fore_knee->setJointPosition(JointAngles::fromRad(knee_position(phase,hind_hip_knee_phase_lag,hind_knee_amplitude,hind_knee_offset)));
 
-		knee2 = JointAngles::fromRad(amplitude_rad * sin(phase2));
-		left_hind_knee->setJointPosition(knee2);
-		right_fore_knee->setJointPosition(knee2);
 
 		// Now that we set the new angles, we do one processing step
 		synchronizer->process();
 	}
 
 	return EXIT_SUCCESS;
 }