# Measured with same wheel diam
#calib.kp=	4.15
#calib.ki=	5.85
#calib.kd=	0.21
# timestamp yaw yawGoal motorInput
pid_response4=[
[26547,0.7428,0.0000,-1.2092],
[26587,0.7397,0.0000,-1.2092],
[26627,0.7186,0.0000,-1.2092],
[26667,0.6456,0.0000,-1.2092],
[26706,0.5543,0.0000,-1.2092],
[26746,0.4628,0.0000,-1.2092],
[26787,0.3701,0.0000,-1.0432],
[26827,0.2784,0.0000,-0.6691],
[26867,0.1937,0.0000,-0.4189],
[26907,0.1205,0.0000,-0.2225],
[26947,0.0580,0.0000,-0.0480],
[26987,0.0096,0.0000,0.0642],
[27027,-0.0191,0.0000,0.0732],
[27068,-0.0173,0.0000,-0.0880],
[27108,-0.0147,0.0000,-0.0986],
[27148,-0.0160,0.0000,-0.0700],
[27188,-0.0195,0.0000,-0.0392],
[27228,-0.0230,0.0000,-0.0200],
[27268,-0.0239,0.0000,-0.0252],
[27308,-0.0239,0.0000,-0.0241],
[27347,-0.0253,0.0000,-0.0059],
[27388,-0.0270,0.0000,0.0090],
[27428,-0.0294,0.0000,0.0296],
[27468,-0.0289,0.0000,0.0188],
[27508,-0.0277,0.0000,0.0166],
[27548,-0.0265,0.0000,0.0180],
[27588,-0.0252,0.0000,0.0181],
[27628,-0.0246,0.0000,0.0256],
[27668,-0.0236,0.0000,0.0250],
[27709,-0.0216,0.0000,0.0177],
[27749,-0.0200,0.0000,0.0180],
[27789,-0.0182,0.0000,0.0137],
[27829,-0.0161,0.0000,0.0081],
[27869,-0.0144,0.0000,0.0068],
[27909,-0.0138,0.0000,0.0134],
[27949,-0.0122,0.0000,0.0051],
[27988,-0.0104,0.0000,-0.0016],
[28029,-0.0089,0.0000,-0.0027],
[28069,-0.0087,0.0000,0.0048],
[28109,-0.0087,0.0000,0.0081],
[28149,-0.0087,0.0000,0.0102],
[28189,-0.0087,0.0000,0.0122],
[28229,-0.0087,0.0000,0.0143],
[28269,-0.0082,0.0000,0.0116],
[28309,-0.0073,0.0000,0.0070],
[28350,-0.0059,0.0000,0.0013],
[28390,-0.0048,0.0000,-0.0006],
[28430,-0.0047,0.0000,0.0051],
[28470,-0.0047,0.0000,0.0069],
[28510,-0.0047,0.0000,0.0080],
[28550,-0.0047,0.0000,0.0091],
[28590,-0.0047,0.0295,0.2848],
[28631,-0.0028,0.0723,0.5270],
[28670,0.0177,0.1096,0.4877],
[28710,0.0544,0.1399,0.3586],
[28750,0.0901,0.1610,0.2746],
[28790,0.1208,0.1727,0.1885],
[28830,0.1453,0.1735,0.0777],
[28870,0.1626,0.1635,-0.0487],
[28911,0.1714,0.1431,-0.1755],
[28951,0.1706,0.1129,-0.3079],
[28991,0.1589,0.0763,-0.4024],
[29031,0.1349,0.0349,-0.4537],
[29071,0.1057,-0.0088,-0.5206],
[29111,0.0685,-0.0518,-0.5271],
[29151,0.0266,-0.0917,-0.5042],
[29191,-0.0139,-0.1257,-0.4817],
[29231,-0.0567,-0.1524,-0.3933],
[29272,-0.0985,-0.1688,-0.2582],
[29312,-0.1321,-0.1745,-0.1421],
[29351,-0.1581,-0.1693,-0.0089],
[29391,-0.1766,-0.1540,0.1430],
[29431,-0.1863,-0.1287,0.2992],
[29471,-0.1838,-0.0944,0.4269],
[29511,-0.1666,-0.0550,0.4907],
[29551,-0.1371,-0.0121,0.5254],
[29591,-0.1013,0.0316,0.5574],
[29632,-0.0621,0.0733,0.5712],
[29672,-0.0187,0.1104,0.5306],
[29712,0.0243,0.1406,0.4727],
[29752,0.0690,0.1619,0.3471],
[29792,0.1111,0.1730,0.2004],
[29832,0.1434,0.1733,0.0764],
[29872,0.1689,0.1623,-0.0922],
[29912,0.1867,0.1412,-0.2623],
[29953,0.1861,0.1113,-0.3491],
[29992,0.1680,0.0743,-0.3909],
[30032,0.1420,0.0327,-0.4582],
[30072,0.1133,-0.0099,-0.5326],
[30112,0.0802,-0.0529,-0.5809],
[30152,0.0391,-0.0935,-0.5565],
[30192,-0.0062,-0.1272,-0.4779],
[30232,-0.0512,-0.1529,-0.3897],
[30273,-0.0928,-0.1690,-0.2734],
[30313,-0.1304,-0.1745,-0.1217],
[30353,-0.1588,-0.1690,0.0173],
[30393,-0.1780,-0.1529,0.1685],
[30433,-0.1781,-0.1272,0.2317],
[30473,-0.1714,-0.0926,0.3701],
[30513,-0.1533,-0.0529,0.4423],
[30554,-0.1281,-0.0099,0.5227],
[30594,-0.0956,0.0338,0.5609],
[30633,-0.0563,0.0753,0.5535],
[30673,-0.0145,0.1121,0.5238],
[30713,0.0296,0.1412,0.4388],
[30753,0.0730,0.1623,0.3337],
[30793,0.1140,0.1732,0.1927],
[30834,0.1461,0.1730,0.0578],
[30874,0.1721,0.1619,-0.1160],
[30914,0.1881,0.1406,-0.2738],
[30954,0.1859,0.1104,-0.3514],
[30994,0.1664,0.0733,-0.3869],
[31034,0.1414,0.0316,-0.4734],
[31074,0.1083,-0.0121,-0.5108],
[31114,0.0728,-0.0560,-0.5631],
[31154,0.0334,-0.0954,-0.5471],
[31195,-0.0100,-0.1287,-0.4855],
[31235,-0.0519,-0.1540,-0.4079],
[31275,-0.0932,-0.1696,-0.2730],
[31314,-0.1268,-0.1745,-0.1594],
[31354,-0.1528,-0.1688,-0.0232],
[31394,-0.1702,-0.1519,0.1244],
[31435,-0.1794,-0.1257,0.2857],
[31474,-0.1772,-0.0917,0.4115],
[31515,-0.1627,-0.0518,0.5024],
[31555,-0.1335,-0.0088,0.5246],
[31595,-0.0974,0.0349,0.5518],
[31635,-0.0572,0.0763,0.5544],
[31675,-0.0148,0.1129,0.5250],
[31715,0.0288,0.1425,0.4524],
[31755,0.0720,0.1635,0.3433],
[31795,0.1131,0.1735,0.1940],
[31836,0.1444,0.1727,0.0657],
[31876,0.1696,0.1610,-0.1066],
[31916,0.1856,0.1392,-0.2697],
[31955,0.1833,0.1087,-0.3506],
[31995,0.1626,0.0713,-0.3720],
[32035,0.1368,0.0305,-0.4470],
[32075,0.1067,-0.0131,-0.5208],
[32116,0.0724,-0.0571,-0.5663],
[32156,0.0312,-0.0963,-0.5289],
[32196,-0.0115,-0.1295,-0.4787],
[32236,-0.0547,-0.1545,-0.3863],
[32276,-0.0969,-0.1698,-0.2510],
[32316,-0.1284,-0.1745,-0.1577],
[32356,-0.1529,-0.1679,-0.0211],
[32397,-0.1709,-0.1508,0.1467],
[32437,-0.1812,-0.1242,0.3136],
[32477,-0.1774,-0.0898,0.4209],
[32517,-0.1572,-0.0497,0.4663],
[32557,-0.1275,-0.0066,0.5133],
[32596,-0.0925,0.0370,0.5522],
[32636,-0.0544,0.0783,0.5653],
[32676,-0.0124,0.1154,0.5341],
[32716,0.0304,0.1437,0.4559],
[32756,0.0736,0.1638,0.3385],
[32797,0.1144,0.1737,0.1899],
[32837,0.1446,0.1726,0.0718],
[32877,0.1689,0.1606,-0.0981],
[32917,0.1844,0.1386,-0.2622],
[32957,0.1807,0.1078,-0.3302],
[32997,0.1619,0.0693,-0.3900],
[33037,0.1373,0.0273,-0.4696],
[33078,0.1081,-0.0164,-0.5422],
[33118,0.0722,-0.0591,-0.5596],
[33158,0.0301,-0.0981,-0.5239],
[33198,-0.0120,-0.1309,-0.4829],
[33238,-0.0563,-0.1555,-0.3712],
[33277,-0.0987,-0.1703,-0.2406],
[33317,-0.1306,-0.1744,-0.1444],
[33357,-0.1553,-0.1676,0.0037],
[33398,-0.1708,-0.1502,0.1355],
[33438,-0.1708,-0.1234,0.2239],
[33478,-0.1646,-0.0888,0.3604],
[33518,-0.1494,-0.0487,0.4639],
[33558,-0.1243,-0.0055,0.5263],
[33598,-0.0913,0.0381,0.5579],
[33638,-0.0522,0.0792,0.5517],
[33678,-0.0090,0.1162,0.5128],
[33718,0.0340,0.1450,0.4428],
[33759,0.0780,0.1646,0.3124],
[33799,0.1189,0.1739,0.1633],
[33839,0.1496,0.1722,0.0377],
[33879,0.1740,0.1597,-0.1341],
[33918,0.1890,0.1372,-0.3010],
[33958,0.1833,0.1052,-0.3573],
[33998,0.1587,0.0683,-0.3523],
[34039,0.1318,0.0262,-0.4525],
[34079,0.1017,-0.0175,-0.5259],
[34119,0.0665,-0.0602,-0.5516],
[34159,0.0250,-0.0990,-0.5165],
[34199,-0.0174,-0.1316,-0.4679],
[34239,-0.0625,-0.1560,-0.3505],
[34279,-0.1032,-0.1706,-0.2353],
[34319,-0.1340,-0.1744,-0.1341],
[34359,-0.1572,-0.1670,-0.0028],
[34400,-0.1729,-0.1491,0.1544],
[34440,-0.1789,-0.1219,0.2965],
[34480,-0.1734,-0.0869,0.4110],
[34520,-0.1537,-0.0466,0.4707],
[34560,-0.1241,-0.0033,0.5166],
[34599,-0.0898,0.0413,0.5682],
[34639,-0.0509,0.0822,0.5627],
[34680,-0.0087,0.1171,0.5158],
[34720,0.0344,0.1456,0.4455],
[34760,0.0741,0.1649,0.3568],
[34800,0.1146,0.1740,0.1884],
[34840,0.1453,0.1720,0.0606],
[34880,0.1695,0.1593,-0.1086],
[34920,0.1845,0.1359,-0.2736],
[34961,0.1808,0.1044,-0.3493],
[35001,0.1599,0.0663,-0.3812],
[35041,0.1329,0.0240,-0.4568],
[35081,0.1010,-0.0197,-0.5129],
[35121,0.0664,-0.0622,-0.5532],
[35161,0.0258,-0.1008,-0.5230],
[35201,-0.0171,-0.1331,-0.4628],
[35240,-0.0601,-0.1575,-0.3702],
[35281,-0.1015,-0.1712,-0.2306],
[35321,-0.1328,-0.1743,-0.1266],
[35361,-0.1560,-0.1667,0.0051],
[35401,-0.1713,-0.1485,0.1554],
[35441,-0.1701,-0.1211,0.2312],
[35481,-0.1608,-0.0860,0.3471],
[35521,-0.1398,-0.0455,0.4125],
[35561,-0.1138,-0.0011,0.5047],
[35601,-0.0823,0.0423,0.5453],
[35642,-0.0441,0.0831,0.5380],
[35682,-0.0046,0.1187,0.5159],
[35722,0.0373,0.1468,0.4356],
[35762,0.0785,0.1656,0.3236],
[35802,0.1168,0.1741,0.1803],
[35842,0.1459,0.1716,0.0543],
[35881,0.1678,0.1579,-0.1146],
[35921,0.1808,0.1345,-0.2629],
[35962,0.1772,0.1035,-0.3436],
[36002,0.1571,0.0653,-0.3877],
[36042,0.1303,0.0230,-0.4593],
[36082,0.0980,-0.0208,-0.5103],
[36122,0.0599,-0.0632,-0.5181],
[36162,0.0198,-0.1017,-0.5091],
[36202,-0.0210,-0.1345,-0.4704],
[36242,-0.0646,-0.1579,-0.3521],
[36283,-0.1058,-0.1714,-0.2168],
[36323,-0.1399,-0.1742,-0.0823],
[36363,-0.1654,-0.1660,0.0615],
[36403,-0.1795,-0.1474,0.1921],
[36443,-0.1777,-0.1195,0.2724],
[36483,-0.1672,-0.0831,0.3897],
[36524,-0.1455,-0.0423,0.4550],
[36562,-0.1169,0.0011,0.5212],
[36603,-0.0823,0.0445,0.5486],
[36643,-0.0429,0.0841,0.5356],
[36683,-0.0019,0.1195,0.5107],
[36723,0.0413,0.1474,0.4240],
[36763,0.0845,0.1660,0.2982],
[36803,0.1202,0.1742,0.1916],
[36844,0.1490,0.1712,0.0464],
[36884,0.1696,0.1575,-0.1047],
[36924,0.1808,0.1338,-0.2549],
[36964,0.1786,0.1017,-0.3633],
[37004,0.1580,0.0632,-0.3919],
[37044,0.1302,0.0208,-0.4575],
[37084,0.0961,-0.0230,-0.4965],
[37124,0.0605,-0.0653,-0.5370],
[37164,0.0206,-0.1044,-0.5228],
[37204,-0.0229,-0.1359,-0.4436],
[37244,-0.0660,-0.1588,-0.3429],
[37284,-0.1049,-0.1716,-0.2252],
[37324,-0.1335,-0.1741,-0.1318],
[37364,-0.1541,-0.1656,-0.0056],
[37404,-0.1663,-0.1468,0.1308],
[37444,-0.1702,-0.1187,0.2734],
[37484,-0.1651,-0.0822,0.4124],
[37525,-0.1460,-0.0413,0.4689],
[37565,-0.1159,0.0022,0.5070],
[37605,-0.0812,0.0455,0.5453],
[37645,-0.0415,0.0860,0.5367],
[37685,-0.0002,0.1211,0.5037],
[37725,0.0432,0.1485,0.4149],
[37765,0.0823,0.1670,0.3284],
[37805,0.1159,0.1744,0.2137],
[37846,0.1421,0.1708,0.0773],
[37885,0.1605,0.1565,-0.0628],
[37925,0.1686,0.1324,-0.1951],
[37965,0.1673,0.1008,-0.3181],
[38005,0.1513,0.0622,-0.3868],
[38045,0.1251,0.0197,-0.4421],
[38085,0.0946,-0.0251,-0.5161],
[38125,0.0602,-0.0673,-0.5413],
[38166,0.0176,-0.1052,-0.4866],
[38206,-0.0247,-0.1366,-0.4358],
[38246,-0.0654,-0.1593,-0.3511],
[38286,-0.1022,-0.1720,-0.2408],
[38326,-0.1290,-0.1740,-0.1499],
[38366,-0.1469,-0.1649,-0.0381],
[38406,-0.1603,-0.1456,0.1245],
[38446,-0.1644,-0.1162,0.2708],
[38487,-0.1589,-0.0802,0.3893],
[38526,-0.1403,-0.0391,0.4649],
[38566,-0.1131,0.0044,0.5198],
[38606,-0.0783,0.0466,0.5318],
[38646,-0.0388,0.0869,0.5290],
[38686,0.0019,0.1219,0.4998],
[38726,0.0446,0.1497,0.4174],
[38766,0.0845,0.1673,0.3144],
[38807,0.1195,0.1744,0.1856],
[38847,0.1474,0.1706,0.0457],
[38887,0.1676,0.1560,-0.1079],
[38927,0.1760,0.1316,-0.2369],
[38967,0.1708,0.0990,-0.3321],
[39007,0.1492,0.0602,-0.3668],
[39047,0.1229,0.0164,-0.4605],
[39088,0.0929,-0.0273,-0.5222],
[39128,0.0559,-0.0693,-0.5262],
[39168,0.0145,-0.1070,-0.4924],
[39207,-0.0284,-0.1379,-0.4286],
[39247,-0.0708,-0.1597,-0.3232],
[39287,-0.1074,-0.1722,-0.2253],
[39327,-0.1369,-0.1739,-0.1043],
[39367,-0.1564,-0.1642,0.0102],
[39407,-0.1658,-0.1444,0.1335],
[39448,-0.1647,-0.1154,0.2470],
[39488,-0.1554,-0.0792,0.3648],
[39528,-0.1343,-0.0381,0.4300],
[39568,-0.1079,0.0055,0.5079],
[39608,-0.0750,0.0487,0.5413],
[39648,-0.0376,0.0898,0.5507],
[39688,0.0023,0.1242,0.5099],
[39729,0.0439,0.1508,0.4250],
[39769,0.0872,0.1679,0.2825],
[39809,0.1237,0.1745,0.1579],
[39848,0.1536,0.1701,-0.0008],
[39888,0.1745,0.1550,-0.1510],
[39928,0.1876,0.1309,-0.3152],
[39968,0.1843,0.0972,-0.4193],
[40008,0.1588,0.0581,-0.4056],
[40049,0.1264,0.0153,-0.4573],
[40089,0.0917,-0.0284,-0.5127],
[40129,0.0540,-0.0703,-0.5340],
[40169,0.0130,-0.1078,-0.5069],
[40209,-0.0315,-0.1386,-0.4245],
[40249,-0.0702,-0.1606,-0.3644],
[40289,-0.1029,-0.1727,-0.2789],
[40329,-0.1330,-0.1735,-0.1325],
[40370,-0.1541,-0.1635,0.0011],
[40410,-0.1644,-0.1431,0.1232],
[40450,-0.1640,-0.1138,0.2396],
[40489,-0.1577,-0.0773,0.3862],
[40529,-0.1384,-0.0359,0.4494],
[40569,-0.1110,0.0066,0.4993],
[40609,-0.0782,0.0508,0.5550],
[40650,-0.0402,0.0907,0.5434],
[40690,0.0013,0.1250,0.4951],
[40730,0.0437,0.1513,0.4116],
[40770,0.0868,0.1682,0.2732],
[40810,0.1214,0.1745,0.1642],
[40850,0.1502,0.1698,0.0105],
[40890,0.1714,0.1545,-0.1528],
[40931,0.1842,0.1287,-0.3227],
[40971,0.1818,0.0954,-0.4283],
[41011,0.1578,0.0560,-0.4294],
[41051,0.1252,0.0131,-0.4692],
[41091,0.0909,-0.0305,-0.5300],
[41131,0.0539,-0.0723,-0.5534],
[41170,0.0123,-0.1096,-0.5152],
[41210,-0.0319,-0.1392,-0.4301],
[41250,-0.0757,-0.1615,-0.3289],
[41290,-0.1139,-0.1729,-0.2132],
[41331,-0.1426,-0.1734,-0.1007],
[41371,-0.1624,-0.1631,0.0287],
[41411,-0.1746,-0.1425,0.1776],
[41451,-0.1746,-0.1129,0.2909],
[41491,-0.1688,-0.0753,0.4498],
[41531,-0.1511,-0.0349,0.5174],
[41571,-0.1187,0.0099,0.5403],
[41612,-0.0799,0.0529,0.5460],
[41652,-0.0396,0.0926,0.5492],
[41692,0.0032,0.1265,0.4986],
[41732,0.0465,0.1524,0.4117],
[41772,0.0899,0.1688,0.2726],
[41811,0.1257,0.1745,0.1454],
[41851,0.1555,0.1693,-0.0099],
[41891,0.1762,0.1535,-0.1670],
[41932,0.1765,0.1280,-0.2185],
[41972,0.1716,0.0944,-0.3672],
[42012,0.1523,0.0550,-0.4245],
[42052,0.1251,0.0121,-0.4879],
[42092,0.0941,-0.0316,-0.5515],
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