# Measured with larger left wheel
# timestamp Ku  Tu  err_peak  err
pid_autoTune1=[
[22118,62.26,0.00,0.000,0.785],
[22158,62.26,0.00,0.000,0.786],
[22198,62.26,0.00,0.000,0.774],
[22238,62.26,0.00,0.000,0.707],
[22278,62.26,0.00,0.000,0.627],
[22318,62.26,0.00,0.000,0.542],
[22358,62.26,0.00,0.000,0.456],
[22397,62.26,0.00,0.000,0.370],
[22437,62.26,0.00,0.000,0.284],
[22477,62.26,0.00,0.000,0.199],
[22517,62.26,0.00,0.000,0.112],
[22557,62.26,0.00,0.000,0.026],
[22597,62.26,0.42,0.786,-0.058],
[22637,62.26,0.42,0.786,-0.139],
[22677,62.26,0.42,0.786,-0.133],
[22717,62.26,0.42,0.786,-0.063],
[22757,62.26,0.38,0.139,0.017],
[22798,62.26,0.38,0.139,0.098],
[22837,62.26,0.38,0.139,0.070],
[22878,62.26,0.32,0.098,-0.003],
[22917,62.26,0.32,0.098,-0.080],
[22958,62.26,0.32,0.098,-0.072],
[22998,62.26,0.32,0.098,-0.001],
[23037,62.26,0.32,0.080,0.079],
[23077,62.26,0.32,0.080,0.119],
[23117,62.26,0.32,0.080,0.072],
[23157,62.26,0.29,0.119,-0.004],
[23197,62.26,0.29,0.119,-0.081],
[23237,62.26,0.29,0.119,-0.068],
[23277,62.26,0.27,0.081,0.005],
[23317,62.26,0.27,0.081,0.085],
[23357,62.26,0.27,0.081,0.078],
[23397,62.26,0.27,0.081,0.015],
[23437,62.26,0.29,0.085,-0.061],
[23477,62.26,0.29,0.085,-0.134],
[23517,62.26,0.29,0.085,-0.123],
[23557,62.26,0.29,0.085,-0.053],
[23597,62.26,0.30,0.134,0.029],
[23636,62.26,0.30,0.134,0.109],
[23676,62.26,0.30,0.134,0.083],
[23717,62.26,0.30,0.134,0.011],
[23757,62.26,0.31,0.109,-0.068],
[23796,62.26,0.31,0.109,-0.134],
[23837,62.26,0.31,0.109,-0.111],
[23877,62.26,0.31,0.109,-0.038],
[23917,62.26,0.31,0.134,0.046],
[23957,62.26,0.31,0.134,0.127],
[23997,62.26,0.31,0.134,0.100],
[24037,62.26,0.31,0.134,0.027],
[24077,62.26,0.32,0.127,-0.054],
[24356,41.51,0.32,0.127,-0.802],
[24396,41.51,0.32,0.127,-0.810],
[24436,41.51,0.32,0.127,-0.761],
[24476,41.51,0.32,0.127,-0.679],
[24516,41.51,0.32,0.127,-0.592],
[24556,41.51,0.32,0.127,-0.506],
[24596,41.51,0.32,0.127,-0.419],
[24636,41.51,0.32,0.127,-0.332],
[24676,41.51,0.32,0.127,-0.245],
[24717,41.51,0.32,0.127,-0.157],
[24757,41.51,0.32,0.127,-0.069],
[24797,41.51,0.57,0.810,0.016],
[24837,41.51,0.57,0.810,0.074],
[24877,41.51,0.57,0.810,0.026],
[24916,41.51,0.44,0.074,-0.051],
[24956,41.51,0.44,0.074,-0.108],
[24996,41.51,0.44,0.074,-0.083],
[25036,41.51,0.44,0.074,-0.004],
[25076,41.51,0.39,0.108,0.068],
[25116,41.51,0.39,0.108,0.099],
[25156,41.51,0.39,0.108,0.029],
[25196,41.51,0.33,0.099,-0.052],
[25236,41.51,0.33,0.099,-0.110],
[25276,41.51,0.33,0.099,-0.085],
[25316,41.51,0.33,0.099,-0.006],
[25356,41.51,0.33,0.110,0.068],
[25396,41.51,0.33,0.110,0.109],
[25436,41.51,0.33,0.110,0.040],
[25476,41.51,0.29,0.109,-0.040],
[25516,41.51,0.29,0.109,-0.097],
[25555,41.51,0.29,0.109,-0.071],
[25596,41.51,0.27,0.097,0.007],
[25636,41.51,0.27,0.097,0.067],
[25676,41.51,0.27,0.097,0.042],
[25716,41.51,0.26,0.067,-0.031],
[25756,41.51,0.26,0.067,-0.087],
[25796,41.51,0.26,0.067,-0.064],
[25836,41.51,0.25,0.087,0.016],
[25876,41.51,0.25,0.087,0.075],
[25916,41.51,0.25,0.087,0.029],
[25956,41.51,0.25,0.075,-0.047],
[25996,41.51,0.25,0.075,-0.103],
[26036,41.51,0.25,0.075,-0.080],
[26076,41.51,0.25,0.075,-0.002],
[26116,41.51,0.28,0.103,0.068],
[26156,41.51,0.28,0.103,0.094],
[26195,41.51,0.28,0.103,0.025],
[26235,41.51,0.26,0.094,-0.054],
[26275,41.51,0.26,0.094,-0.110],
[26315,41.51,0.26,0.094,-0.086],
[26596,27.67,0.19,0.795,0.795],
[26636,27.67,0.19,0.795,0.798],
[26676,27.67,0.19,0.795,0.769],
[26716,27.67,0.19,0.795,0.696],
[26756,27.67,0.19,0.795,0.612],
[26796,27.67,0.19,0.795,0.528],
[26835,27.67,0.19,0.795,0.441],
[26875,27.67,0.19,0.795,0.355],
[26915,27.67,0.19,0.795,0.269],
[26955,27.67,0.19,0.795,0.185],
[26995,27.67,0.19,0.795,0.102],
[27035,27.67,0.19,0.795,0.016],
[27075,27.67,0.50,0.798,-0.065],
[27115,27.67,0.50,0.798,-0.111],
[27155,27.67,0.50,0.798,-0.072],
[27195,27.67,0.39,0.111,0.008],
[27235,27.67,0.39,0.111,0.071],
[27275,27.67,0.39,0.111,0.050],
[27315,27.67,0.33,0.071,-0.020],
[27355,27.67,0.33,0.071,-0.074],
[27395,27.67,0.33,0.071,-0.025],
[27435,27.67,0.30,0.074,0.048],
[27475,27.67,0.30,0.074,0.093],
[27515,27.67,0.30,0.074,0.031],
[27555,27.67,0.27,0.093,-0.043],
[27595,27.67,0.27,0.093,-0.088],
[27635,27.67,0.27,0.093,-0.056],
[27675,27.67,0.26,0.088,0.025],
[27715,27.67,0.26,0.088,0.087],
[27755,27.67,0.26,0.088,0.042],
[27795,27.67,0.25,0.087,-0.033],
[27835,27.67,0.25,0.087,-0.088],
[27875,27.67,0.25,0.087,-0.050],
[27915,27.67,0.25,0.088,0.030],
[27955,27.67,0.25,0.088,0.092],
[27995,27.67,0.25,0.088,0.039],
[28035,27.67,0.24,0.092,-0.036],
[28075,27.67,0.24,0.092,-0.091],
[28114,27.67,0.24,0.092,-0.051],
[28154,27.67,0.24,0.091,0.028],
[28194,27.67,0.24,0.091,0.091],
[28234,27.67,0.24,0.091,0.040],
[28274,27.67,0.24,0.091,-0.035],
[28315,27.67,0.24,0.091,-0.092],
[28354,27.67,0.24,0.091,-0.054],
[28394,27.67,0.24,0.092,0.024],
[28435,27.67,0.24,0.092,0.089],
[28475,27.67,0.24,0.092,0.045],
[28515,27.67,0.24,0.089,-0.029],
[28555,27.67,0.24,0.089,-0.088],
[28834,18.45,0.24,0.089,-0.785],
[28874,18.45,0.24,0.089,-0.785],
[28914,18.45,0.24,0.089,-0.746],
[28954,18.45,0.24,0.089,-0.668],
[28994,18.45,0.24,0.089,-0.582],
[29034,18.45,0.24,0.089,-0.491],
[29074,18.45,0.24,0.089,-0.400],
[29114,18.45,0.24,0.089,-0.315],
[29154,18.45,0.24,0.089,-0.229],
[29194,18.45,0.24,0.089,-0.142],
[29234,18.45,0.24,0.089,-0.055],
[29274,18.45,0.53,0.785,0.031],
[29315,18.45,0.53,0.785,0.082],
[29355,18.45,0.53,0.785,0.046],
[29394,18.45,0.41,0.082,-0.027],
[29434,18.45,0.41,0.082,-0.074],
[29474,18.45,0.41,0.082,-0.020],
[29514,18.45,0.34,0.074,0.052],
[29554,18.45,0.34,0.074,0.091],
[29594,18.45,0.34,0.074,0.030],
[29634,18.45,0.30,0.091,-0.044],
[29674,18.45,0.30,0.091,-0.089],
[29714,18.45,0.30,0.091,-0.031],
[29754,18.45,0.28,0.089,0.044],
[29794,18.45,0.28,0.089,0.087],
[29834,18.45,0.28,0.089,0.032],
[29874,18.45,0.26,0.087,-0.039],
[29914,18.45,0.26,0.087,-0.081],
[29954,18.45,0.26,0.087,-0.023],
[29993,18.45,0.25,0.081,0.052],
[30033,18.45,0.25,0.081,0.097],
[30073,18.45,0.25,0.081,0.039],
[30113,18.45,0.25,0.097,-0.034],
[30153,18.45,0.25,0.097,-0.079],
[30193,18.45,0.25,0.097,-0.028],
[30233,18.45,0.24,0.079,0.045],
[30273,18.45,0.24,0.079,0.087],
[30313,18.45,0.24,0.079,0.032],
[30354,18.45,0.24,0.087,-0.041],
[30394,18.45,0.24,0.087,-0.084],
[30434,18.45,0.24,0.087,-0.028],
[30474,18.45,0.24,0.084,0.044],
[30514,18.45,0.24,0.084,0.089],
[30554,18.45,0.24,0.084,0.037],
[30594,18.45,0.24,0.089,-0.035],
[30633,18.45,0.24,0.089,-0.077],
[30673,18.45,0.24,0.089,-0.023],
[30713,18.45,0.24,0.077,0.049],
[30753,18.45,0.24,0.077,0.093],
[30793,18.45,0.24,0.077,0.038],
[31073,12.30,0.24,0.077,0.773],
[31114,12.30,0.24,0.077,0.768],
[31154,12.30,0.24,0.077,0.733],
[31194,12.30,0.24,0.077,0.664],
[31233,12.30,0.24,0.077,0.584],
[31273,12.30,0.24,0.077,0.500],
[31313,12.30,0.24,0.077,0.417],
[31353,12.30,0.24,0.077,0.334],
[31393,12.30,0.24,0.077,0.251],
[31433,12.30,0.24,0.077,0.166],
[31473,12.30,0.24,0.077,0.082],
[31513,12.30,0.53,0.773,-0.001],
[31553,12.30,0.53,0.773,-0.054],
[31593,12.30,0.53,0.773,-0.040],
[31633,12.30,0.41,0.054,0.010],
[31673,12.30,0.41,0.054,0.037],
[31713,12.30,0.41,0.054,0.030],
[31753,12.30,0.34,0.037,-0.001],
[31793,12.30,0.34,0.037,-0.016],
[31833,12.30,0.34,0.037,-0.012],
[31873,12.30,0.30,0.016,0.002],
[31912,12.30,0.30,0.016,0.009],
[31953,12.30,0.30,0.016,0.009],
[31992,12.30,0.30,0.016,0.004],
[32032,12.30,0.31,0.009,-0.004],
[32073,12.30,0.31,0.009,-0.005],
[32113,12.30,0.31,0.009,-0.004],
[32153,12.30,0.31,0.009,-0.002],
[32193,12.30,0.31,0.005,0.000],
[32233,12.30,0.31,0.005,0.001],
[32273,12.30,0.31,0.005,0.002],
[32313,12.30,0.31,0.005,0.002],
[32353,12.30,0.31,0.005,0.001],
[32393,12.30,0.31,0.005,0.001],
[32433,12.30,0.31,0.005,0.001],
[32473,12.30,0.31,0.005,0.002],
[32513,12.30,0.31,0.005,0.002],
[32552,12.30,0.31,0.005,0.002],
[32592,12.30,0.31,0.005,0.001],
[32632,12.30,0.31,0.005,0.001],
[32672,12.30,0.31,0.005,0.001],
[32712,12.30,0.31,0.005,0.001],
[32752,12.30,0.31,0.005,0.001],
[32792,12.30,0.31,0.005,0.001],
[32832,12.30,0.31,0.005,0.001],
[32872,12.30,0.31,0.005,0.001],
[32913,12.30,0.31,0.005,0.001],
[32953,12.30,0.31,0.005,0.001],
[32993,12.30,0.31,0.005,0.001],
[33032,12.30,0.31,0.005,0.001]]

