# Measured with same wheel diam
#calib.kp=	4.15
#calib.ki=	5.85
#calib.kd=	0.21
# timestamp yaw yawGoal motorInput
pid_response4=[
[33037,1.3785,0.0000,-1.2092],
[33078,1.3781,0.0000,-1.2092],
[33118,1.3553,0.0000,-1.2092],
[33158,1.2762,0.0000,-1.2092],
[33198,1.1830,0.0000,-1.2092],
[33238,1.0893,0.0000,-1.2092],
[33277,0.9933,0.0000,-1.2092],
[33317,0.8972,0.0000,-1.2092],
[33357,0.8019,0.0000,-1.2092],
[33397,0.7072,0.0000,-1.2092],
[33438,0.6120,0.0000,-1.2092],
[33478,0.5135,0.0000,-1.2092],
[33518,0.4179,0.0000,-1.2092],
[33558,0.3235,0.0000,-0.8413],
[33598,0.2279,0.0000,-0.5141],
[33638,0.1439,0.0000,-0.2802],
[33678,0.0706,0.0000,-0.0672],
[33718,0.0189,0.0000,0.0091],
[33759,-0.0149,0.0000,0.0571],
[33799,-0.0151,0.0000,-0.1174],
[33839,-0.0125,0.0000,-0.1387],
[33879,-0.0179,0.0000,-0.0715],
[33918,-0.0312,0.0000,0.0317],
[33958,-0.0360,0.0000,0.0118],
[33998,-0.0357,0.0000,-0.0071],
[34039,-0.0356,0.0000,0.0013],
[34079,-0.0362,0.0000,0.0162],
[34119,-0.0359,0.0000,0.0179],
[34159,-0.0345,0.0000,0.0156],
[34199,-0.0327,0.0000,0.0135],
[34239,-0.0308,0.0000,0.0124],
[34279,-0.0293,0.0000,0.0165],
[34319,-0.0286,0.0000,0.0240],
[34360,-0.0276,0.0000,0.0254],
[34400,-0.0244,0.0000,0.0071],
[34440,-0.0233,0.0000,0.0192],
[34480,-0.0227,0.0000,0.0248],
[34520,-0.0211,0.0000,0.0184],
[34560,-0.0183,0.0000,0.0046],
[34599,-0.0167,0.0000,0.0093],
[34640,-0.0157,0.0000,0.0114],
[34679,-0.0157,0.0000,0.0208],
[34720,-0.0155,0.0000,0.0233],
[34760,-0.0152,0.0000,0.0242],
[34800,-0.0137,0.0000,0.0158],
[34840,-0.0125,0.0000,0.0153],
[34880,-0.0119,0.0000,0.0189],
[34920,-0.0105,0.0000,0.0122],
[34960,-0.0103,0.0000,0.0196],
[35001,-0.0103,0.0000,0.0233],
[35041,-0.0103,0.0000,0.0257],
[35081,-0.0087,0.0000,0.0131],
[35121,-0.0076,0.0000,0.0132],
[35161,-0.0068,0.0000,0.0127],
[35201,-0.0065,0.0000,0.0166],
[35240,-0.0065,0.0000,0.0194],
[35280,-0.0065,0.0000,0.0209],
[35321,-0.0065,0.0000,0.0225],
[35361,-0.0059,0.0000,0.0182],
[35401,-0.0047,0.0000,0.0114],
[35441,-0.0036,0.0000,0.0085],
[35481,-0.0035,0.0000,0.0141],
[35521,-0.0036,0.0000,0.0167],
[35561,-0.0036,0.0000,0.0169],
[35601,-0.0036,0.0000,0.0177],
[35642,-0.0036,0.0000,0.0186],
[35682,-0.0036,0.0000,0.0194],
[35722,-0.0036,0.0000,0.0203],
[35762,-0.0036,0.0000,0.0211],
[35802,-0.0036,0.0000,0.0220],
[35842,-0.0031,0.0000,0.0182],
[35881,-0.0022,0.0000,0.0122],
[35921,-0.0008,0.0000,0.0053],
[35962,-0.0007,0.0000,0.0115],
[36002,-0.0007,0.0000,0.0123],
[36042,-0.0007,0.0000,0.0125],
[36082,-0.0007,0.0000,0.0126],
[36122,-0.0007,0.0000,0.0128],
[36162,-0.0007,0.0000,0.0130],
[36202,-0.0007,0.0000,0.0131],
[36243,-0.0007,0.0000,0.0133],
[36283,-0.0007,0.0000,0.0135],
[36323,-0.0007,0.0000,0.0136],
[36363,-0.0007,0.0000,0.0138],
[36403,-0.0007,0.0000,0.0140],
[36443,-0.0007,0.0000,0.0141],
[36483,-0.0007,0.0000,0.0143],
[36523,-0.0007,0.0000,0.0144],
[36562,-0.0007,0.0000,0.0146],
[36603,-0.0007,0.0000,0.0148],
[36643,-0.0007,0.0000,0.0150],
[36683,-0.0006,0.0000,0.0140],
[36723,-0.0007,0.0000,0.0159],
[36763,-0.0007,0.0000,0.0154],
[36803,-0.0007,0.0000,0.0156],
[36843,-0.0007,0.0000,0.0158],
[36884,-0.0007,0.0000,0.0159],
[36924,-0.0007,0.0000,0.0161],
[36964,-0.0007,0.0000,0.0163],
[37004,-0.0007,0.0000,0.0165],
[37044,-0.0007,0.0000,0.0166],
[37084,-0.0007,0.0000,0.0168],
[37124,-0.0006,0.0000,0.0158],
[37164,-0.0006,0.0000,0.0166],
[37204,-0.0006,0.0000,0.0167],
[37244,-0.0007,0.0000,0.0180],
[37284,-0.0007,0.0000,0.0175],
[37324,-0.0007,0.0000,0.0177],
[37364,-0.0007,0.0000,0.0179],
[37404,-0.0007,0.0000,0.0180],
[37444,-0.0007,0.0000,0.0182],
[37484,-0.0007,0.0000,0.0184],
[37525,-0.0007,0.0000,0.0186],
[37565,-0.0007,0.0000,0.0187],
[37605,-0.0007,0.0000,0.0189],
[37645,-0.0007,0.0000,0.0190],
[37685,-0.0008,0.0000,0.0204],
[37725,-0.0008,0.0000,0.0199],
[37765,-0.0008,0.0000,0.0201],
[37806,-0.0008,0.0000,0.0203],
[37846,-0.0008,0.0000,0.0205],
[37885,-0.0008,0.0000,0.0207],
[37925,-0.0008,0.0000,0.0209],
[37965,-0.0008,0.0000,0.0211],
[38005,-0.0008,0.0000,0.0213],
[38045,-0.0008,0.0000,0.0215],
[38085,0.0008,0.0000,0.0066],
[38125,0.0009,0.0000,0.0138],
[38165,0.0015,0.0000,0.0085],
[38206,0.0015,0.0000,0.0113],
[38246,0.0015,0.0000,0.0110],
[38286,0.0015,0.0000,0.0106],
[38326,0.0015,0.0000,0.0103],
[38366,0.0015,0.0000,0.0099],
[38406,0.0015,0.0000,0.0096],
[38446,0.0015,0.0000,0.0092],
[38487,0.0015,0.0000,0.0089],
[38526,0.0015,0.0000,0.0086],
[38566,0.0015,0.0000,0.0082],
[38606,0.0015,0.0000,0.0079],
[38646,0.0015,0.0000,0.0075],
[38686,0.0015,0.0000,0.0072],
[38726,0.0015,0.0000,0.0068],
[38767,0.0015,0.0000,0.0065],
[38807,0.0015,0.0000,0.0061],
[38847,0.0016,0.0000,0.0046],
[38887,0.0016,0.0000,0.0049],
[38927,0.0016,0.0000,0.0045],
[38967,0.0016,0.0000,0.0042],
[39007,0.0015,0.0000,0.0049],
[39047,0.0015,0.0000,0.0039],
[39087,0.0015,0.0000,0.0036],
[39128,0.0015,0.0000,0.0032],
[39168,0.0015,0.0000,0.0029],
[39207,0.0015,0.0000,0.0025],
[39247,0.0015,0.0000,0.0022],
[39287,0.0015,0.0000,0.0018],
[39327,0.0015,0.0000,0.0015],
[39367,0.0015,0.0000,0.0012],
[39407,0.0015,0.0000,0.0008],
[39447,0.0015,0.0000,0.0005],
[39488,0.0015,0.0000,0.0001],
[39528,0.0015,0.0000,-0.0002],
[39568,0.0015,0.0000,-0.0006],
[39608,0.0015,0.0000,-0.0009],
[39648,0.0015,0.0000,-0.0013],
[39688,0.0015,0.0000,-0.0016],
[39729,0.0015,0.0000,-0.0020],
[39769,0.0014,0.0000,-0.0012],
[39809,0.0014,0.0000,-0.0021],
[39848,0.0014,0.0000,-0.0024],
[39888,-0.0001,0.0000,0.0111],
[39928,-0.0001,0.0000,0.0034],
[39968,-0.0001,0.0000,0.0034],
[40008,-0.0001,0.0000,0.0034],
[40048,-0.0001,0.0000,0.0035],
[40089,-0.0001,0.0000,0.0035],
[40129,-0.0001,0.0000,0.0035],
[40169,-0.0001,0.0000,0.0035],
[40209,-0.0001,0.0000,0.0036],
[40249,-0.0001,0.0000,0.0036],
[40289,-0.0001,0.0000,0.0036],
[40329,-0.0001,0.0000,0.0037],
[40369,-0.0001,0.0000,0.0037],
[40410,-0.0001,0.0000,0.0037],
[40450,-0.0001,0.0000,0.0037],
[40489,-0.0001,0.0000,0.0037],
[40529,-0.0001,0.0000,0.0038],
[40569,-0.0002,0.0000,0.0049],
[40609,-0.0002,0.0000,0.0044],
[40649,-0.0002,0.0000,0.0044],
[40690,-0.0002,0.0000,0.0045],
[40730,-0.0002,0.0000,0.0045],
[40770,-0.0001,0.0000,0.0034],
[40810,-0.0001,0.0000,0.0041],
[40850,-0.0002,0.0000,0.0053],
[40890,-0.0002,0.0000,0.0047],
[40930,-0.0002,0.0000,0.0047],
[40971,-0.0002,0.0000,0.0048],
[41010,-0.0002,0.0000,0.0049],
[41051,-0.0002,0.0000,0.0049],
[41091,-0.0002,0.0000,0.0049],
[41131,-0.0002,0.0000,0.0050],
[41170,-0.0002,0.0000,0.0051],
[41210,-0.0002,0.0000,0.0051],
[41250,-0.0002,0.0000,0.0052],
[41290,-0.0002,0.0000,0.0052],
[41330,-0.0002,0.0000,0.0053],
[41371,-0.0004,0.0000,0.0065],
[41411,-0.0002,0.0000,0.0048],
[41451,-0.0002,0.0000,0.0055],
[41491,-0.0002,0.0000,0.0055],
[41531,-0.0004,0.0000,0.0067],
[41571,-0.0004,0.0000,0.0062],
[41611,-0.0004,0.0000,0.0063],
[41652,-0.0004,0.0000,0.0063],
[41692,-0.0004,0.0000,0.0064],
[41732,-0.0004,0.0000,0.0065],
[41772,-0.0004,0.0000,0.0066],
[41811,-0.0004,0.0000,0.0067],
[41851,-0.0004,0.0000,0.0067],
[41891,-0.0004,0.0000,0.0068],
[41931,-0.0004,0.0000,0.0069],
[41971,-0.0004,0.0000,0.0070],
[42012,-0.0005,0.0000,0.0082],
[42052,-0.0005,0.0000,0.0077],
[42092,-0.0005,1.5708,1.2092],
[42132,-0.0001,1.5708,1.2092],
[42172,0.0605,1.5708,1.2092],
[42212,0.1426,1.5708,1.2092],
[42252,0.2326,1.5708,1.2092],
[42292,0.3274,1.5708,1.2092],
[42333,0.4207,1.5708,1.2092],
[42373,0.5115,1.5708,1.2092],
[42413,0.6048,1.5708,1.2092],
[42452,0.7012,1.5708,1.2092],
[42492,0.7963,1.5708,1.2092],
[42532,0.8926,1.5708,1.2092],
[42572,0.9867,1.5708,1.2092],
[42613,1.0797,1.5708,1.2092],
[42653,1.1727,1.5708,1.1636],
[42693,1.2671,1.5708,0.7651],
[42733,1.3602,1.5708,0.4508],
[42773,1.4409,1.5708,0.2318],
[42813,1.5113,1.5708,0.0238],
[42854,1.5620,1.5708,-0.0602],
[42893,1.5954,1.5708,-0.1117],
[42934,1.5962,1.5708,0.0515],
[42974,1.5887,1.5708,0.1212],
[43014,1.5890,1.5708,0.0739],
[43054,1.5936,1.5708,0.0278],
[43094,1.6008,1.5708,-0.0215],
[43133,1.6028,1.5708,-0.0089],
[43173,1.6018,1.5708,0.0037],
[43214,1.6018,1.5708,-0.0088],
[43254,1.6016,1.5708,-0.0144],
[43294,1.6016,1.5708,-0.0226],
[43334,1.6016,1.5708,-0.0298],
[43374,1.6013,1.5708,-0.0338],
[43414,1.6001,1.5708,-0.0315],
[43454,1.5991,1.5708,-0.0350],
[43494,1.5952,1.5708,-0.0099],
[43535,1.5936,1.5708,-0.0223],
[43575,1.5912,1.5708,-0.0130],
[43615,1.5895,1.5708,-0.0142],
[43655,1.5888,1.5708,-0.0212],
[43695,1.5847,1.5708,0.0098],
[43735,1.5835,1.5708,-0.0039],
[43774,1.5835,1.5708,-0.0132],
[43814,1.5823,1.5708,-0.0050],
[43855,1.5804,1.5708,0.0040],
[43895,1.5775,1.5708,0.0192],
[43935,1.5775,1.5708,0.0023],
[43975,1.5777,1.5708,-0.0009],
[44015,1.5777,1.5708,-0.0016],
[44055,1.5777,1.5708,-0.0032],
[44095,1.5777,1.5708,-0.0048],
[44136,1.5777,1.5708,-0.0065],
[44176,1.5777,1.5708,-0.0081],
[44216,1.5766,1.5708,0.0001],
[44256,1.5756,1.5708,0.0030],
[44296,1.5756,1.5708,-0.0036],
[44336,1.5756,1.5708,-0.0047],
[44376,1.5737,1.5708,0.0121],
[44416,1.5730,1.5708,0.0080],
[44455,1.5732,1.5708,0.0021],
[44496,1.5732,1.5708,0.0025],
[44536,1.5732,1.5708,0.0019],
[44576,1.5732,1.5708,0.0014],
[44616,1.5732,1.5708,0.0008],
[44656,1.5732,1.5708,0.0003],
[44696,1.5732,1.5708,-0.0003],
[44736,1.5730,1.5708,0.0008],
[44776,1.5730,1.5708,-0.0006],
[44817,1.5730,1.5708,-0.0012],
[44857,1.5726,1.5708,0.0016],
[44897,1.5726,1.5708,-0.0006],
[44937,1.5721,1.5708,0.0038],
[44977,1.5711,1.5708,0.0105],
[45017,1.5713,1.5708,0.0034],
[45057,1.5714,1.5708,0.0025],
[45096,1.5714,0.7854,-1.2092],
[45136,1.5634,0.7854,-1.2092],
[45177,1.4895,0.7854,-1.2092],
[45217,1.3967,0.7854,-1.2092],
[45257,1.3025,0.7854,-1.2092],
[45297,1.2076,0.7854,-1.2092],
[45337,1.1117,0.7854,-0.8388],
[45377,1.0166,0.7854,-0.5311],
[45417,0.9323,0.7854,-0.2926],
[45458,0.8591,0.7854,-0.0929],
[45498,0.8013,0.7854,0.0574],
[45538,0.7623,0.7854,0.1154],
[45578,0.7644,0.7854,-0.1051],
[45618,0.7696,0.7854,-0.1383],
[45658,0.7642,0.7854,-0.0567],
[45698,0.7524,0.7854,0.0320],
[45737,0.7499,0.7854,0.0001],
[45778,0.7500,0.7854,-0.0054],
[45818,0.7480,0.7854,0.0228],
[45858,0.7470,0.7854,0.0296],
[45898,0.7474,0.7854,0.0300],
[45938,0.7480,0.7854,0.0347],
[45978,0.7499,0.7854,0.0289],
[46018,0.7532,0.7854,0.0161],
[46058,0.7543,0.7854,0.0317],
[46099,0.7551,0.7854,0.0365],
[46139,0.7582,0.7854,0.0184],
[46179,0.7609,0.7854,0.0165],
[46219,0.7622,0.7854,0.0238],
[46259,0.7640,0.7854,0.0194],
[46299,0.7655,0.7854,0.0195],
[46339,0.7665,0.7854,0.0225],
[46379,0.7677,0.7854,0.0210],
[46419,0.7693,0.7854,0.0161],
[46459,0.7707,0.7854,0.0161],
[46499,0.7717,0.7854,0.0168],
[46539,0.7720,0.7854,0.0228],
[46579,0.7720,0.7854,0.0267],
[46619,0.7739,0.7854,0.0125],
[46659,0.7752,0.7854,0.0135],
[46700,0.7762,0.7854,0.0130],
[46740,0.7763,0.7854,0.0196],
[46780,0.7763,0.7854,0.0222],
[46820,0.7765,0.7854,0.0224],
[46860,0.7781,0.7854,0.0098],
[46900,0.7792,0.7854,0.0107],
[46940,0.7799,0.7854,0.0102],
[46981,0.7801,0.7854,0.0141],
[47020,0.7801,0.7854,0.0162],
[47060,0.7802,0.7854,0.0162],
[47100,0.7803,0.7854,0.0173],
[47140,0.7803,0.7854,0.0189],
[47180,0.7803,0.7854,0.0201],
[47220,0.7803,0.7854,0.0213],
[47260,0.7804,0.7854,0.0217],
[47300,0.7821,0.7854,0.0071],
[47340,0.7831,0.7854,0.0074],
[47381,0.7832,0.7854,0.0125],
[47421,0.7832,0.7854,0.0135],
[47461,0.7832,0.7854,0.0140],
[47501,0.7832,0.7854,0.0145],
[47541,0.7832,0.7854,0.0150],
[47581,0.7832,0.7854,0.0155],
[47621,0.7832,0.7854,0.0160],
[47662,0.7831,0.7854,0.0173],
[47702,0.7831,0.7854,0.0174],
[47741,0.7831,0.7854,0.0179],
[47781,0.7831,0.7854,0.0184],
[47821,0.7831,0.7854,0.0190],
[47861,0.7831,0.7854,0.0195],
[47901,0.7831,0.7854,0.0200],
[47941,0.7831,0.7854,0.0206],
[47982,0.7831,0.7854,0.0211],
[48022,0.7831,0.7854,0.0216],
[48062,0.7832,0.7854,0.0214]]

