# Measured with same wheel diam
# Kp = 5
# timestamp yaw yawGoal motorInput
pid_response2=[
[23181,0.7630,0.0000,-1.2092],
[23221,0.7620,0.0000,-1.2092],
[23261,0.7437,0.0000,-1.2092],
[23302,0.6665,0.0000,-1.2092],
[23342,0.5758,0.0000,-1.2092],
[23382,0.4847,0.0000,-1.2092],
[23421,0.3902,0.0000,-1.2092],
[23461,0.2968,0.0000,-1.2092],
[23501,0.2031,0.0000,-1.0153],
[23541,0.1085,0.0000,-0.5424],
[23581,0.0225,0.0000,-0.1127],
[23622,-0.0512,0.0000,0.2562],
[23662,-0.0922,0.0000,0.4610],
[23702,-0.0837,0.0000,0.4184],
[23742,-0.0532,0.0000,0.2658],
[23782,-0.0202,0.0000,0.1009],
[23822,0.0044,0.0000,-0.0218],
[23862,0.0194,0.0000,-0.0970],
[23903,0.0183,0.0000,-0.0915],
[23943,0.0145,0.0000,-0.0726],
[23983,0.0091,0.0000,-0.0456],
[24023,0.0033,0.0000,-0.0163],
[24062,-0.0022,0.0000,0.0111],
[24102,-0.0037,0.0000,0.0185],
[24142,-0.0036,0.0000,0.0179],
[24182,-0.0032,0.0000,0.0161],
[24223,-0.0032,0.0000,0.0161],
[24263,-0.0025,0.0000,0.0125],
[24303,-0.0004,0.0000,0.0021],
[24343,-0.0004,0.0000,0.0021],
[24383,-0.0004,0.0000,0.0021],
[24423,-0.0004,0.0000,0.0021],
[24463,-0.0004,0.0000,0.0022],
[24503,-0.0004,0.0000,0.0022],
[24543,-0.0004,0.0000,0.0022],
[24584,-0.0004,0.0000,0.0022],
[24624,-0.0004,0.0000,0.0022],
[24664,-0.0004,0.0000,0.0022],
[24704,-0.0005,0.0000,0.0023],
[24743,-0.0005,0.0000,0.0023],
[24783,-0.0005,0.0000,0.0023],
[24824,-0.0005,0.0000,0.0023],
[24864,-0.0003,0.0000,0.0017],
[24904,-0.0003,0.0000,0.0017],
[24944,-0.0003,0.0000,0.0017],
[24984,-0.0003,0.0000,0.0017],
[25024,-0.0003,0.0000,0.0017],
[25064,-0.0003,0.0000,0.0017],
[25104,-0.0003,0.0000,0.0017],
[25145,-0.0003,0.0000,0.0017],
[25185,-0.0003,0.0000,0.0017],
[25225,-0.0004,0.0305,0.1545],
[25265,0.0000,0.0723,0.3616],
[25305,0.0111,0.1096,0.4922],
[25345,0.0370,0.1399,0.5145],
[25384,0.0712,0.1615,0.4513],
[25424,0.1090,0.1730,0.3201],
[25464,0.1444,0.1734,0.1452],
[25504,0.1717,0.1631,-0.0433],
[25545,0.1861,0.1425,-0.2181],
[25585,0.1844,0.1129,-0.3574],
[25625,0.1707,0.0763,-0.4719],
[25665,0.1381,0.0349,-0.5161],
[25705,0.1000,-0.0088,-0.5439],
[25745,0.0578,-0.0518,-0.5483],
[25786,0.0119,-0.0926,-0.5224],
[25826,-0.0334,-0.1265,-0.4652],
[25866,-0.0773,-0.1524,-0.3756],
[25906,-0.1158,-0.1688,-0.2649],
[25946,-0.1479,-0.1745,-0.1334],
[25986,-0.1720,-0.1693,0.0135],
[26025,-0.1853,-0.1535,0.1591],
[26065,-0.1844,-0.1272,0.2860],
[26106,-0.1755,-0.0944,0.4053],
[26146,-0.1549,-0.0550,0.4997],
[26186,-0.1249,-0.0121,0.5644],
[26226,-0.0904,0.0316,0.6099],
[26266,-0.0478,0.0733,0.6058],
[26306,-0.0036,0.1104,0.5702],
[26346,0.0422,0.1406,0.4919],
[26386,0.0884,0.1623,0.3694],
[26427,0.1307,0.1732,0.2121],
[26467,0.1635,0.1732,0.0484],
[26507,0.1878,0.1623,-0.1274],
[26547,0.1996,0.1412,-0.2918],
[26587,0.1902,0.1113,-0.3945],
[26627,0.1677,0.0743,-0.4669],
[26667,0.1349,0.0316,-0.5162],
[26706,0.0962,-0.0121,-0.5412],
[26747,0.0538,-0.0550,-0.5438],
[26787,0.0091,-0.0935,-0.5129],
[26827,-0.0357,-0.1272,-0.4579],
[26867,-0.0804,-0.1529,-0.3629],
[26907,-0.1168,-0.1690,-0.2612],
[26947,-0.1468,-0.1745,-0.1387],
[26987,-0.1680,-0.1688,-0.0038],
[27028,-0.1817,-0.1524,0.1465],
[27068,-0.1863,-0.1265,0.2991],
[27108,-0.1816,-0.0926,0.4451],
[27148,-0.1631,-0.0529,0.5508],
[27188,-0.1311,-0.0099,0.6062],
[27228,-0.0896,0.0338,0.6171],
[27268,-0.0457,0.0753,0.6049],
[27308,0.0011,0.1129,0.5591],
[27347,0.0477,0.1425,0.4741],
[27388,0.0966,0.1631,0.3324],
[27428,0.1365,0.1733,0.1840],
[27468,0.1683,0.1730,0.0238],
[27508,0.1910,0.1619,-0.1454],
[27548,0.2016,0.1406,-0.3050],
[27588,0.1890,0.1104,-0.3932],
[27628,0.1646,0.0733,-0.4566],
[27668,0.1341,0.0305,-0.5179],
[27708,0.0957,-0.0131,-0.5443],
[27749,0.0533,-0.0560,-0.5465],
[27789,0.0089,-0.0954,-0.5215],
[27829,-0.0362,-0.1287,-0.4628],
[27869,-0.0799,-0.1540,-0.3705],
[27909,-0.1197,-0.1698,-0.2505],
[27949,-0.1511,-0.1745,-0.1170],
[27988,-0.1749,-0.1682,0.0333],
[28028,-0.1864,-0.1513,0.1755],
[28069,-0.1851,-0.1250,0.3006],
[28109,-0.1721,-0.0917,0.4022],
[28149,-0.1511,-0.0518,0.4965],
[28189,-0.1237,-0.0088,0.5749],
[28229,-0.0860,0.0349,0.6041],
[28269,-0.0444,0.0773,0.6085],
[28309,0.0013,0.1138,0.5625],
[28350,0.0455,0.1431,0.4881],
[28390,0.0913,0.1635,0.3606],
[28430,0.1340,0.1735,0.1979],
[28470,0.1668,0.1727,0.0296],
[28510,0.1904,0.1610,-0.1466],
[28550,0.2019,0.1392,-0.3135],
[28590,0.1889,0.1087,-0.4012],
[28630,0.1604,0.0703,-0.4502],
[28670,0.1280,0.0284,-0.4982],
[28710,0.0914,-0.0153,-0.5338],
[28750,0.0512,-0.0571,-0.5413],
[28790,0.0083,-0.0963,-0.5230],
[28830,-0.0385,-0.1295,-0.4550],
[28870,-0.0834,-0.1545,-0.3554],
[28910,-0.1209,-0.1701,-0.2462],
[28951,-0.1494,-0.1745,-0.1255],
[28991,-0.1700,-0.1679,0.0103],
[29031,-0.1792,-0.1508,0.1421],
[29071,-0.1786,-0.1242,0.2719],
[29111,-0.1696,-0.0898,0.3993],
[29151,-0.1497,-0.0497,0.4997],
[29191,-0.1189,-0.0066,0.5614],
[29231,-0.0817,0.0381,0.5989],
[29271,-0.0404,0.0792,0.5981],
[29312,0.0043,0.1154,0.5555],
[29351,0.0503,0.1444,0.4704],
[29391,0.0964,0.1638,0.3374],
[29431,0.1385,0.1737,0.1759],
[29471,0.1701,0.1726,0.0123],
[29511,0.1941,0.1606,-0.1672],
[29551,0.2044,0.1379,-0.3324],
[29592,0.1918,0.1070,-0.4240],
[29632,0.1644,0.0693,-0.4755],
[29672,0.1308,0.0273,-0.5176],
[29712,0.0950,-0.0164,-0.5570],
[29752,0.0532,-0.0591,-0.5614],
[29792,0.0103,-0.0981,-0.5419],
[29832,-0.0366,-0.1309,-0.4715],
[29873,-0.0814,-0.1560,-0.3732],
[29913,-0.1215,-0.1706,-0.2455],
[29953,-0.1525,-0.1744,-0.1097],
[29992,-0.1755,-0.1673,0.0410],
[30032,-0.1856,-0.1497,0.1794],
[30072,-0.1839,-0.1234,0.3022],
[30112,-0.1723,-0.0879,0.4222],
[30152,-0.1503,-0.0476,0.5134],
[30193,-0.1174,-0.0044,0.5651],
[30233,-0.0792,0.0391,0.5915],
[30273,-0.0375,0.0802,0.5885],
[30313,0.0075,0.1162,0.5439],
[30353,0.0544,0.1450,0.4529],
[30393,0.1000,0.1646,0.3230],
[30433,0.1366,0.1739,0.1863],
[30473,0.1629,0.1720,0.0459],
[30513,0.1820,0.1593,-0.1135],
[30554,0.1880,0.1366,-0.2573],
[30594,0.1801,0.1052,-0.3742],
[30633,0.1564,0.0673,-0.4457],
[30673,0.1253,0.0251,-0.5008],
[30713,0.0879,-0.0175,-0.5270],
[30753,0.0445,-0.0612,-0.5282],
[30793,-0.0006,-0.0990,-0.4920],
[30833,-0.0451,-0.1324,-0.4364],
[30873,-0.0861,-0.1565,-0.3518],
[30914,-0.1227,-0.1708,-0.2405],
[30954,-0.1512,-0.1744,-0.1157],
[30994,-0.1719,-0.1670,0.0247],
[31034,-0.1800,-0.1491,0.1547],
[31074,-0.1780,-0.1219,0.2806],
[31114,-0.1668,-0.0860,0.4041],
[31154,-0.1436,-0.0455,0.4903],
[31195,-0.1131,-0.0022,0.5546],
[31235,-0.0773,0.0413,0.5929],
[31275,-0.0358,0.0822,0.5896],
[31314,0.0077,0.1179,0.5507],
[31354,0.0550,0.1456,0.4528],
[31394,0.0988,0.1649,0.3308],
[31434,0.1377,0.1740,0.1815],
[31474,0.1653,0.1718,0.0326],
[31515,0.1860,0.1588,-0.1355],
[31555,0.1933,0.1359,-0.2873],
[31595,0.1808,0.1044,-0.3824],
[31635,0.1559,0.0663,-0.4482],
[31675,0.1248,0.0240,-0.5039],
[31715,0.0896,-0.0197,-0.5464],
[31755,0.0495,-0.0632,-0.5636],
[31795,0.0058,-0.1017,-0.5373],
[31836,-0.0394,-0.1338,-0.4716],
[31876,-0.0839,-0.1575,-0.3676],
[31916,-0.1217,-0.1712,-0.2475],
[31955,-0.1517,-0.1743,-0.1127],
[31995,-0.1738,-0.1663,0.0373],
[32035,-0.1819,-0.1479,0.1698],
[32075,-0.1807,-0.1203,0.3020],
[32116,-0.1645,-0.0850,0.3973],
[32156,-0.1404,-0.0445,0.4796],
[32196,-0.1095,-0.0011,0.5423],
[32236,-0.0746,0.0423,0.5847],
[32276,-0.0343,0.0831,0.5870],
[32316,0.0084,0.1187,0.5516],
[32356,0.0552,0.1468,0.4580],
[32396,0.0977,0.1660,0.3414],
[32437,0.1385,0.1742,0.1785],
[32477,0.1681,0.1714,0.0169],
[32517,0.1907,0.1579,-0.1641],
[32557,0.1978,0.1345,-0.3166],
[32596,0.1811,0.1026,-0.3925],
[32636,0.1556,0.0632,-0.4618],
[32676,0.1238,0.0208,-0.5148],
[32716,0.0868,-0.0219,-0.5433],
[32756,0.0466,-0.0642,-0.5541],
[32797,0.0021,-0.1026,-0.5235],
[32837,-0.0437,-0.1345,-0.4538],
[32877,-0.0902,-0.1579,-0.3388],
[32917,-0.1280,-0.1714,-0.2174],
[32957,-0.1602,-0.1742,-0.0701],
[32997,-0.1844,-0.1656,0.0939],
[33037,-0.1977,-0.1468,0.2548],
[33078,-0.1945,-0.1187,0.3792],
[33118,-0.1797,-0.0831,0.4829],
[33158,-0.1536,-0.0423,0.5565],
[33198,-0.1176,0.0011,0.5937],
[33238,-0.0771,0.0445,0.6076],
[33277,-0.0334,0.0860,0.5972],
[33317,0.0126,0.1211,0.5423],
[33358,0.0605,0.1479,0.4372],
[33398,0.1054,0.1663,0.3045],
[33438,0.1417,0.1743,0.1630],
[33478,0.1679,0.1712,0.0166],
[33518,0.1874,0.1575,-0.1499],
[33558,0.1964,0.1338,-0.3132],
[33598,0.1871,0.1017,-0.4270],
[33638,0.1631,0.0622,-0.5042],
[33678,0.1279,0.0197,-0.5410],
[33719,0.0879,-0.0240,-0.5597],
[33759,0.0463,-0.0663,-0.5630],
[33799,-0.0022,-0.1044,-0.5109],
[33839,-0.0496,-0.1359,-0.4314],
[33879,-0.0954,-0.1588,-0.3171],
[33918,-0.1355,-0.1720,-0.1824],
[33958,-0.1673,-0.1740,-0.0334],
[33998,-0.1919,-0.1653,0.1331],
[34039,-0.2084,-0.1462,0.3111],
[34079,-0.2067,-0.1179,0.4440],
[34119,-0.1891,-0.0822,0.5349],
[34159,-0.1604,-0.0413,0.5954],
[34199,-0.1223,0.0022,0.6226],
[34239,-0.0784,0.0455,0.6197],
[34279,-0.0328,0.0860,0.5942],
[34320,0.0166,0.1219,0.5261],
[34360,0.0654,0.1491,0.4185],
[34400,0.1094,0.1670,0.2877],
[34440,0.1490,0.1744,0.1268],
[34480,0.1808,0.1708,-0.0498],
[34520,0.2024,0.1565,-0.2295],
[34560,0.2011,0.1324,-0.3435],
[34599,0.1867,0.0990,-0.4384],
[34640,0.1617,0.0602,-0.5077],
[34680,0.1285,0.0186,-0.5494],
[34720,0.0897,-0.0251,-0.5743],
[34760,0.0476,-0.0673,-0.5742],
[34800,0.0014,-0.1052,-0.5329],
[34840,-0.0472,-0.1366,-0.4466],
[34880,-0.0936,-0.1597,-0.3308],
[34921,-0.1334,-0.1722,-0.1943],
[34961,-0.1639,-0.1739,-0.0500],
[35001,-0.1879,-0.1646,0.1165],
[35041,-0.2035,-0.1450,0.2927],
[35081,-0.2022,-0.1162,0.4296],
[35121,-0.1861,-0.0802,0.5294],
[35161,-0.1574,-0.0391,0.5914],
[35201,-0.1199,0.0055,0.6267],
[35240,-0.0756,0.0487,0.6215],
[35280,-0.0283,0.0888,0.5857],
[35321,0.0207,0.1226,0.5098],
[35361,0.0697,0.1497,0.3999],
[35401,0.1136,0.1673,0.2683],
[35441,0.1508,0.1744,0.1178],
[35481,0.1792,0.1706,-0.0431],
[35521,0.1988,0.1560,-0.2142],
[35562,0.1967,0.1309,-0.3287],
[35601,0.1832,0.0981,-0.4253],
[35642,0.1557,0.0591,-0.4829],
[35682,0.1242,0.0164,-0.5390],
[35722,0.0840,-0.0273,-0.5564],
[35762,0.0413,-0.0693,-0.5532],
[35802,-0.0016,-0.1078,-0.5313],
[35842,-0.0488,-0.1386,-0.4487],
[35883,-0.0957,-0.1606,-0.3247],
[35922,-0.1376,-0.1726,-0.1746],
[35962,-0.1708,-0.1738,-0.0146],
[36002,-0.1975,-0.1642,0.1663],
[36042,-0.2142,-0.1444,0.3491],
[36082,-0.2123,-0.1154,0.4845],
[36122,-0.1917,-0.0792,0.5624],
[36162,-0.1580,-0.0381,0.5999],
[36202,-0.1189,0.0066,0.6273],
[36242,-0.0746,0.0497,0.6218],
[36283,-0.0268,0.0898,0.5830],
[36323,0.0225,0.1242,0.5082],
[36363,0.0705,0.1508,0.4016],
[36403,0.1162,0.1679,0.2585],
[36443,0.1532,0.1745,0.1064],
[36483,0.1814,0.1698,-0.0578],
[36523,0.2007,0.1545,-0.2309],
[36563,0.1979,0.1295,-0.3422],
[36603,0.1830,0.0963,-0.4338],
[36643,0.1565,0.0581,-0.4919],
[36683,0.1240,0.0153,-0.5433],
[36723,0.0865,-0.0284,-0.5746],
[36763,0.0438,-0.0703,-0.5704],
[36803,-0.0006,-0.1078,-0.5362],
[36843,-0.0495,-0.1392,-0.4489],
[36884,-0.0971,-0.1610,-0.3195],
[36924,-0.1372,-0.1727,-0.1778],
[36964,-0.1691,-0.1735,-0.0220],
[37004,-0.1938,-0.1635,0.1517],
[37044,-0.2090,-0.1431,0.3295],
[37084,-0.2062,-0.1129,0.4664],
[37124,-0.1851,-0.0763,0.5440],
[37165,-0.1520,-0.0349,0.5860],
[37204,-0.1130,0.0088,0.6089],
[37244,-0.0691,0.0518,0.6048],
[37284,-0.0223,0.0907,0.5652],
[37324,0.0258,0.1250,0.4957],
[37364,0.0742,0.1513,0.3856],
[37404,0.1162,0.1682,0.2600],
[37444,0.1493,0.1745,0.1263],
[37484,0.1740,0.1696,-0.0223],
[37525,0.1902,0.1540,-0.1813],
[37565,0.1894,0.1287,-0.3034],
[37605,0.1779,0.0954,-0.4127],
[37645,0.1551,0.0560,-0.4954],
[37685,0.1242,0.0131,-0.5554],
[37725,0.0863,-0.0305,-0.5842],
[37765,0.0411,-0.0733,-0.5719],
[37805,-0.0033,-0.1104,-0.5357],
[37846,-0.0521,-0.1406,-0.4421],
[37885,-0.0953,-0.1619,-0.3328],
[37925,-0.1337,-0.1730,-0.1965],
[37965,-0.1639,-0.1734,-0.0478],
[38005,-0.1863,-0.1631,0.1161],
[38045,-0.1997,-0.1425,0.2861],
[38085,-0.1969,-0.1121,0.4241],
[38125,-0.1803,-0.0753,0.5252],
[38166,-0.1522,-0.0338,0.5920],
[38206,-0.1130,0.0099,0.6144],
[38246,-0.0689,0.0529,0.6089],
[38286,-0.0216,0.0926,0.5709],
[38326,0.0262,0.1265,0.5015],
[38366,0.0738,0.1524,0.3929],
[38406,0.1183,0.1690,0.2539],
[38446,0.1529,0.1745,0.1081],
[38487,0.1805,0.1690,-0.0574],
[38526,0.1977,0.1529,-0.2239],
[38566,0.1953,0.1272,-0.3404],
[38606,0.1807,0.0944,-0.4313],
[38646,0.1537,0.0550,-0.4938],
[38686,0.1210,0.0121,-0.5449],
[38726,0.0820,-0.0327,-0.5736],
[38767,0.0386,-0.0743,-0.5647],
[38807,-0.0049,-0.1113,-0.5320],
[38847,-0.0531,-0.1412,-0.4404],
[38887,-0.0982,-0.1623,-0.3202],
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