# Measured with same wheel diam
# Kp = 1
# timestamp yaw yawGoal motorInput
pid_response1=[
[25826,0.7510,0.0000,-0.7510],
[25866,0.7508,0.0000,-0.7508],
[25906,0.7346,0.0000,-0.7346],
[25946,0.6856,0.0000,-0.6856],
[25986,0.6263,0.0000,-0.6263],
[26025,0.5705,0.0000,-0.5705],
[26065,0.5183,0.0000,-0.5183],
[26105,0.4695,0.0000,-0.4695],
[26145,0.4255,0.0000,-0.4255],
[26186,0.3859,0.0000,-0.3859],
[26226,0.3510,0.0000,-0.3510],
[26266,0.3188,0.0000,-0.3188],
[26306,0.2862,0.0000,-0.2862],
[26346,0.2591,0.0000,-0.2591],
[26386,0.2349,0.0000,-0.2349],
[26426,0.2130,0.0000,-0.2130],
[26467,0.1941,0.0000,-0.1941],
[26507,0.1738,0.0000,-0.1738],
[26547,0.1596,0.0000,-0.1596],
[26587,0.1435,0.0000,-0.1435],
[26627,0.1316,0.0000,-0.1316],
[26667,0.1181,0.0000,-0.1181],
[26706,0.1045,0.0000,-0.1045],
[26746,0.0937,0.0000,-0.0937],
[26787,0.0836,0.0000,-0.0836],
[26827,0.0745,0.0000,-0.0745],
[26867,0.0689,0.0000,-0.0689],
[26907,0.0597,0.0000,-0.0597],
[26947,0.0517,0.0000,-0.0517],
[26987,0.0465,0.0000,-0.0465],
[27027,0.0444,0.0000,-0.0444],
[27068,0.0392,0.0000,-0.0392],
[27108,0.0364,0.0000,-0.0364],
[27148,0.0329,0.0000,-0.0329],
[27188,0.0307,0.0000,-0.0307],
[27228,0.0294,0.0000,-0.0294],
[27268,0.0280,0.0000,-0.0280],
[27308,0.0261,0.0000,-0.0261],
[27347,0.0227,0.0000,-0.0227],
[27387,0.0204,0.0000,-0.0204],
[27428,0.0203,0.0000,-0.0203],
[27468,0.0203,0.0000,-0.0203],
[27508,0.0202,0.0000,-0.0202],
[27548,0.0196,0.0000,-0.0196],
[27588,0.0152,0.0000,-0.0152],
[27628,0.0123,0.0000,-0.0123],
[27668,0.0116,0.0000,-0.0116],
[27709,0.0110,0.0000,-0.0110],
[27749,0.0098,0.0000,-0.0098],
[27789,0.0086,0.0000,-0.0086],
[27829,0.0081,0.0000,-0.0081],
[27869,0.0072,0.0295,0.0223],
[27909,0.0075,0.0713,0.0639],
[27949,0.0094,0.1087,0.0993],
[27988,0.0151,0.1392,0.1241],
[28029,0.0242,0.1615,0.1373],
[28069,0.0372,0.1729,0.1357],
[28109,0.0496,0.1735,0.1239],
[28149,0.0628,0.1635,0.1006],
[28189,0.0754,0.1431,0.0677],
[28229,0.0803,0.1138,0.0334],
[28269,0.0879,0.0773,-0.0106],
[28309,0.0893,0.0349,-0.0544],
[28350,0.0893,-0.0088,-0.0981],
[28390,0.0887,-0.0518,-0.1405],
[28430,0.0818,-0.0917,-0.1735],
[28470,0.0728,-0.1257,-0.1985],
[28510,0.0554,-0.1519,-0.2073],
[28550,0.0397,-0.1685,-0.2082],
[28590,0.0188,-0.1745,-0.1934],
[28630,0.0006,-0.1693,-0.1699],
[28670,-0.0171,-0.1535,-0.1364],
[28710,-0.0301,-0.1280,-0.0979],
[28750,-0.0391,-0.0954,-0.0562],
[28790,-0.0450,-0.0560,-0.0110],
[28830,-0.0471,-0.0131,0.0339],
[28870,-0.0488,0.0305,0.0793],
[28910,-0.0476,0.0723,0.1199],
[28950,-0.0426,0.1104,0.1530],
[28990,-0.0333,0.1406,0.1739],
[29031,-0.0187,0.1619,0.1806],
[29071,-0.0027,0.1730,0.1758],
[29111,0.0141,0.1733,0.1592],
[29151,0.0285,0.1627,0.1341],
[29191,0.0438,0.1418,0.0980],
[29231,0.0514,0.1121,0.0607],
[29271,0.0577,0.0743,0.0167],
[29310,0.0629,0.0327,-0.0302],
[29351,0.0628,-0.0110,-0.0738],
[29391,0.0617,-0.0529,-0.1146],
[29431,0.0579,-0.0926,-0.1505],
[29471,0.0522,-0.1265,-0.1787],
[29511,0.0384,-0.1524,-0.1908],
[29551,0.0255,-0.1688,-0.1943],
[29591,0.0075,-0.1745,-0.1820],
[29631,-0.0100,-0.1690,-0.1590],
[29672,-0.0254,-0.1529,-0.1275],
[29712,-0.0363,-0.1272,-0.0909],
[29752,-0.0444,-0.0935,-0.0491],
[29792,-0.0495,-0.0539,-0.0044],
[29832,-0.0536,-0.0110,0.0426],
[29872,-0.0548,0.0327,0.0875],
[29912,-0.0528,0.0753,0.1281],
[29953,-0.0470,0.1121,0.1591],
[29992,-0.0379,0.1418,0.1798],
[30032,-0.0245,0.1627,0.1872],
[30072,-0.0082,0.1732,0.1814],
[30112,0.0056,0.1732,0.1676],
[30152,0.0210,0.1623,0.1413],
[30192,0.0350,0.1412,0.1062],
[30232,0.0426,0.1104,0.0678],
[30273,0.0512,0.0733,0.0221],
[30313,0.0568,0.0316,-0.0252],
[30353,0.0578,-0.0121,-0.0699],
[30393,0.0574,-0.0550,-0.1124],
[30433,0.0539,-0.0944,-0.1483],
[30473,0.0451,-0.1280,-0.1731],
[30513,0.0314,-0.1540,-0.1854],
[30553,0.0175,-0.1696,-0.1871],
[30594,0.0002,-0.1745,-0.1748],
[30633,-0.0142,-0.1685,-0.1543],
[30673,-0.0281,-0.1519,-0.1237],
[30713,-0.0406,-0.1265,-0.0859],
[30753,-0.0469,-0.0926,-0.0457],
[30793,-0.0523,-0.0529,-0.0006],
[30833,-0.0527,-0.0099,0.0429],
[30874,-0.0527,0.0349,0.0876],
[30914,-0.0500,0.0763,0.1263],
[30954,-0.0439,0.1129,0.1569],
[30994,-0.0337,0.1425,0.1761],
[31034,-0.0196,0.1631,0.1827],
[31074,-0.0018,0.1734,0.1752],
[31114,0.0139,0.1727,0.1588],
[31154,0.0288,0.1610,0.1322],
[31195,0.0403,0.1392,0.0990],
[31235,0.0536,0.1087,0.0551],
[31275,0.0609,0.0713,0.0105],
[31314,0.0638,0.0295,-0.0343],
[31354,0.0637,-0.0131,-0.0768],
[31394,0.0622,-0.0560,-0.1182],
[31434,0.0583,-0.0954,-0.1537],
[31474,0.0492,-0.1295,-0.1787],
[31514,0.0359,-0.1545,-0.1904],
[31555,0.0220,-0.1698,-0.1918],
[31595,0.0061,-0.1745,-0.1806],
[31635,-0.0083,-0.1682,-0.1599],
[31675,-0.0224,-0.1513,-0.1289],
[31715,-0.0340,-0.1250,-0.0909],
[31755,-0.0444,-0.0898,-0.0454],
[31795,-0.0493,-0.0497,-0.0005],
[31836,-0.0498,-0.0066,0.0432],
[31876,-0.0498,0.0370,0.0868],
[31916,-0.0491,0.0783,0.1273],
[31955,-0.0461,0.1146,0.1607],
[31995,-0.0380,0.1437,0.1818],
[32035,-0.0232,0.1635,0.1866],
[32075,-0.0068,0.1737,0.1804],
[32115,0.0112,0.1726,0.1614],
[32155,0.0237,0.1606,0.1369],
[32196,0.0371,0.1386,0.1015],
[32236,0.0464,0.1078,0.0614],
[32276,0.0560,0.0703,0.0143],
[32316,0.0593,0.0284,-0.0309],
[32356,0.0594,-0.0153,-0.0747],
[32396,0.0593,-0.0581,-0.1174],
[32437,0.0572,-0.0981,-0.1553],
[32476,0.0473,-0.1309,-0.1782],
[32517,0.0346,-0.1555,-0.1901],
[32557,0.0208,-0.1703,-0.1911],
[32596,0.0034,-0.1744,-0.1779],
[32636,-0.0126,-0.1676,-0.1550],
[32676,-0.0236,-0.1508,-0.1272],
[32716,-0.0356,-0.1234,-0.0878],
[32756,-0.0483,-0.0888,-0.0406],
[32797,-0.0526,-0.0487,0.0039],
[32837,-0.0531,-0.0055,0.0476],
[32877,-0.0523,0.0381,0.0904],
[32917,-0.0506,0.0792,0.1299],
[32957,-0.0460,0.1154,0.1614],
[32997,-0.0352,0.1444,0.1796],
[33037,-0.0197,0.1646,0.1843],
[33078,-0.0059,0.1739,0.1798],
[33118,0.0094,0.1722,0.1629],
[33158,0.0240,0.1597,0.1357],
[33198,0.0371,0.1372,0.1001],
[33238,0.0495,0.1061,0.0566],
[33277,0.0591,0.0683,0.0092],
[33317,0.0639,0.0262,-0.0377],
[33357,0.0645,-0.0175,-0.0820],
[33397,0.0643,-0.0602,-0.1244],
[33437,0.0616,-0.0990,-0.1606],
[33478,0.0556,-0.1316,-0.1872],
[33518,0.0413,-0.1560,-0.1973],
[33558,0.0248,-0.1706,-0.1954],
[33598,0.0079,-0.1744,-0.1823],
[33638,-0.0068,-0.1670,-0.1601],
[33678,-0.0221,-0.1491,-0.1270],
[33719,-0.0369,-0.1219,-0.0849],
[33758,-0.0473,-0.0869,-0.0396],
[33799,-0.0531,-0.0466,0.0065],
[33839,-0.0544,-0.0033,0.0511],
[33879,-0.0539,0.0402,0.0941],
[33918,-0.0518,0.0812,0.1330],
[33958,-0.0498,0.1179,0.1676],
[33998,-0.0412,0.1456,0.1868],
[34038,-0.0278,0.1649,0.1927],
[34079,-0.0096,0.1740,0.1835],
[34119,0.0075,0.1720,0.1645],
[34159,0.0245,0.1593,0.1348],
[34199,0.0380,0.1366,0.0985],
[34239,0.0499,0.1052,0.0554],
[34279,0.0573,0.0673,0.0100],
[34319,0.0611,0.0240,-0.0371],
[34359,0.0628,-0.0197,-0.0825],
[34400,0.0626,-0.0622,-0.1248],
[34440,0.0603,-0.1008,-0.1611],
[34480,0.0527,-0.1331,-0.1858],
[34520,0.0400,-0.1570,-0.1970],
[34560,0.0237,-0.1710,-0.1948],
[34599,0.0071,-0.1743,-0.1814],
[34639,-0.0087,-0.1663,-0.1577],
[34679,-0.0259,-0.1485,-0.1226],
[34720,-0.0415,-0.1211,-0.0795],
[34760,-0.0547,-0.0860,-0.0312],
[34800,-0.0612,-0.0455,0.0157],
[34840,-0.0622,-0.0022,0.0600],
[34880,-0.0610,0.0413,0.1023],
[34920,-0.0584,0.0831,0.1415],
[34960,-0.0490,0.1187,0.1677],
[35000,-0.0398,0.1468,0.1866],
[35041,-0.0241,0.1656,0.1897],
[35081,-0.0088,0.1741,0.1829],
[35121,0.0081,0.1716,0.1636],
[35161,0.0244,0.1584,0.1340],
[35201,0.0363,0.1352,0.0989],
[35240,0.0475,0.1026,0.0550],
[35280,0.0560,0.0642,0.0082],
[35321,0.0581,0.0230,-0.0351],
[35361,0.0591,-0.0208,-0.0799],
[35401,0.0586,-0.0632,-0.1218],
[35441,0.0557,-0.1017,-0.1573],
[35481,0.0484,-0.1338,-0.1822],
[35521,0.0344,-0.1579,-0.1923],
[35561,0.0182,-0.1712,-0.1895],
[35601,0.0027,-0.1742,-0.1769],
[35641,-0.0157,-0.1660,-0.1502],
[35682,-0.0319,-0.1474,-0.1155],
[35722,-0.0443,-0.1195,-0.0751],
[35762,-0.0534,-0.0841,-0.0307],
[35802,-0.0590,-0.0434,0.0156],
[35842,-0.0607,0.0000,0.0607],
[35881,-0.0604,0.0434,0.1038],
[35922,-0.0571,0.0841,0.1412],
[35962,-0.0511,0.1195,0.1706],
[36002,-0.0373,0.1474,0.1846],
[36042,-0.0219,0.1660,0.1879],
[36082,-0.0056,0.1742,0.1798],
[36122,0.0120,0.1714,0.1595],
[36162,0.0275,0.1579,0.1304],
[36202,0.0428,0.1338,0.0910],
[36242,0.0542,0.1017,0.0475],
[36282,0.0637,0.0632,-0.0005],
[36323,0.0665,0.0208,-0.0457],
[36363,0.0664,-0.0230,-0.0894],
[36403,0.0657,-0.0653,-0.1310],
[36443,0.0607,-0.1035,-0.1641],
[36483,0.0536,-0.1359,-0.1894],
[36523,0.0378,-0.1588,-0.1967],
[36562,0.0222,-0.1718,-0.1940],
[36603,0.0043,-0.1740,-0.1784],
[36643,-0.0104,-0.1656,-0.1553],
[36683,-0.0248,-0.1468,-0.1220],
[36723,-0.0357,-0.1187,-0.0830],
[36763,-0.0470,-0.0831,-0.0361],
[36803,-0.0525,-0.0413,0.0112],
[36843,-0.0534,0.0022,0.0556],
[36883,-0.0530,0.0455,0.0986],
[36923,-0.0507,0.0860,0.1367],
[36964,-0.0450,0.1211,0.1660],
[37004,-0.0312,0.1485,0.1797],
[37044,-0.0152,0.1667,0.1818],
[37084,-0.0000,0.1743,0.1743],
[37124,0.0155,0.1708,0.1553],
[37164,0.0316,0.1565,0.1248],
[37204,0.0454,0.1324,0.0870],
[37244,0.0589,0.0999,0.0410],
[37284,0.0671,0.0622,-0.0049],
[37324,0.0720,0.0197,-0.0523],
[37364,0.0724,-0.0240,-0.0964],
[37404,0.0722,-0.0663,-0.1384],
[37444,0.0684,-0.1052,-0.1736],
[37484,0.0581,-0.1366,-0.1947],
[37525,0.0419,-0.1593,-0.2011],
[37565,0.0268,-0.1720,-0.1988],
[37605,0.0107,-0.1740,-0.1846],
[37645,-0.0042,-0.1649,-0.1607],
[37685,-0.0191,-0.1456,-0.1264],
[37725,-0.0309,-0.1171,-0.0862],
[37765,-0.0404,-0.0812,-0.0408],
[37805,-0.0452,-0.0391,0.0060],
[37846,-0.0474,0.0044,0.0518],
[37885,-0.0464,0.0476,0.0941],
[37925,-0.0452,0.0879,0.1331],
[37965,-0.0415,0.1219,0.1634],
[38005,-0.0304,0.1491,0.1795],
[38045,-0.0149,0.1670,0.1819],
[38085,-0.0007,0.1744,0.1751],
[38125,0.0141,0.1706,0.1565],
[38165,0.0312,0.1560,0.1248],
[38206,0.0467,0.1316,0.0849],
[38246,0.0578,0.0990,0.0412],
[38286,0.0672,0.0602,-0.0070],
[38326,0.0701,0.0175,-0.0526],
[38366,0.0702,-0.0262,-0.0964],
[38406,0.0699,-0.0693,-0.1392],
[38446,0.0646,-0.1070,-0.1716],
[38487,0.0549,-0.1379,-0.1929],
[38526,0.0402,-0.1602,-0.2003],
[38566,0.0251,-0.1724,-0.1975],
[38606,0.0071,-0.1739,-0.1810],
[38646,-0.0097,-0.1646,-0.1549],
[38686,-0.0237,-0.1450,-0.1213],
[38726,-0.0368,-0.1154,-0.0786],
[38767,-0.0448,-0.0792,-0.0344],
[38807,-0.0497,-0.0381,0.0116],
[38847,-0.0515,0.0055,0.0570],
[38887,-0.0513,0.0487,0.1000],
[38927,-0.0488,0.0888,0.1377],
[38967,-0.0438,0.1234,0.1673],
[39007,-0.0352,0.1502,0.1854],
[39047,-0.0187,0.1676,0.1863],
[39088,-0.0022,0.1744,0.1766],
[39128,0.0152,0.1701,0.1549],
[39168,0.0333,0.1550,0.1217],
[39207,0.0470,0.1302,0.0832],
[39247,0.0587,0.0981,0.0394],
[39287,0.0653,0.0591,-0.0062],
[39327,0.0678,0.0164,-0.0514],
[39367,0.0677,-0.0284,-0.0960],
[39407,0.0677,-0.0703,-0.1380],
[39448,0.0651,-0.1078,-0.1729],
[39488,0.0545,-0.1386,-0.1930],
[39528,0.0398,-0.1606,-0.2004],
[39568,0.0224,-0.1726,-0.1950],
[39608,0.0032,-0.1737,-0.1769],
[39648,-0.0141,-0.1638,-0.1497],
[39688,-0.0282,-0.1431,-0.1149],
[39728,-0.0398,-0.1138,-0.0740],
[39769,-0.0512,-0.0773,-0.0261],
[39809,-0.0558,-0.0359,0.0199],
[39848,-0.0564,0.0077,0.0641],
[39888,-0.0557,0.0508,0.1065],
[39928,-0.0521,0.0898,0.1419],
[39968,-0.0474,0.1242,0.1716],
[40008,-0.0368,0.1513,0.1881],
[40049,-0.0196,0.1682,0.1879],
[40089,-0.0032,0.1745,0.1777],
[40129,0.0137,0.1698,0.1561],
[40169,0.0281,0.1545,0.1264],
[40209,0.0396,0.1295,0.0898],
[40249,0.0505,0.0963,0.0458],
[40289,0.0593,0.0571,-0.0023],
[40329,0.0630,0.0131,-0.0499],
[40369,0.0635,-0.0305,-0.0940],
[40410,0.0633,-0.0723,-0.1356],
[40450,0.0607,-0.1096,-0.1703],
[40489,0.0487,-0.1399,-0.1886],
[40529,0.0312,-0.1615,-0.1927],
[40569,0.0145,-0.1727,-0.1872],
[40609,-0.0019,-0.1735,-0.1717],
[40649,-0.0181,-0.1631,-0.1449],
[40689,-0.0313,-0.1425,-0.1111],
[40730,-0.0437,-0.1129,-0.0693],
[40770,-0.0531,-0.0763,-0.0232],
[40810,-0.0631,-0.0349,0.0283],
[40850,-0.0652,0.0088,0.0740],
[40890,-0.0645,0.0518,0.1163],
[40930,-0.0624,0.0917,0.1541],
[40970,-0.0550,0.1265,0.1814],
[41010,-0.0410,0.1524,0.1934],
[41051,-0.0237,0.1688,0.1924],
[41091,-0.0091,0.1745,0.1837],
[41131,0.0093,0.1693,0.1600],
[41170,0.0255,0.1535,0.1280],
[41210,0.0376,0.1287,0.0911],
[41250,0.0486,0.0944,0.0459],
[41290,0.0548,0.0550,0.0002],
[41331,0.0577,0.0131,-0.0446],
[41371,0.0579,-0.0316,-0.0895],
[41411,0.0575,-0.0733,-0.1308],
[41451,0.0525,-0.1104,-0.1629],
[41491,0.0445,-0.1406,-0.1850],
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