# Measured with same wheel diam
# Kp = 10
# timestamp yaw yawGoal motorInput
pid_response3=[
[26786,0.7631,0.0000,-1.2092],
[26826,0.7604,0.0000,-1.2092],
[26867,0.7398,0.0000,-1.2092],
[26907,0.6646,0.0000,-1.2092],
[26947,0.5700,0.0000,-1.2092],
[26987,0.4766,0.0000,-1.2092],
[27027,0.3788,0.0000,-1.2092],
[27067,0.2833,0.0000,-1.2092],
[27107,0.1930,0.0000,-1.2092],
[27148,0.1050,0.0000,-1.0495],
[27188,0.0170,0.0000,-0.1698],
[27228,-0.0651,0.0000,0.6509],
[27268,-0.1040,0.0000,1.0398],
[27308,-0.0782,0.0000,0.7815],
[27347,-0.0080,0.0000,0.0796],
[27387,0.0578,0.0000,-0.5777],
[27427,0.0988,0.0000,-0.9884],
[27468,0.0684,0.0000,-0.6836],
[27508,0.0022,0.0000,-0.0217],
[27548,-0.0551,0.0000,0.5512],
[27588,-0.0883,0.0000,0.8828],
[27628,-0.0654,0.0000,0.6537],
[27668,-0.0002,0.0000,0.0018],
[27708,0.0522,0.0000,-0.5224],
[27748,0.0804,0.0000,-0.8036],
[27789,0.0496,0.0000,-0.4962],
[27829,-0.0065,0.0000,0.0654],
[27869,-0.0519,0.0000,0.5189],
[27909,-0.0459,0.0000,0.4594],
[27949,-0.0187,0.0000,0.1872],
[27988,0.0200,0.0000,-0.1997],
[28028,0.0461,0.0000,-0.4613],
[28068,0.0363,0.0000,-0.3628],
[28109,0.0028,0.0000,-0.0281],
[28149,-0.0263,0.0000,0.2625],
[28189,-0.0422,0.0000,0.4217],
[28229,-0.0280,0.0000,0.2802],
[28269,-0.0036,0.0000,0.0358],
[28309,0.0208,0.0000,-0.2083],
[28349,0.0353,0.0000,-0.3526],
[28390,0.0254,0.0000,-0.2540],
[28430,-0.0011,0.0000,0.0113],
[28470,-0.0206,0.0000,0.2055],
[28510,-0.0191,0.0000,0.1911],
[28550,-0.0096,0.0000,0.0959],
[28590,0.0001,0.0000,-0.0007],
[28630,0.0080,0.0000,-0.0800],
[28669,0.0120,0.0000,-0.1204],
[28709,0.0116,0.0000,-0.1155],
[28750,0.0074,0.0000,-0.0742],
[28790,-0.0007,0.0000,0.0065],
[28830,-0.0030,0.0284,0.3138],
[28870,-0.0002,0.0703,0.7052],
[28910,0.0154,0.1078,0.9245],
[28950,0.0699,0.1386,0.6870],
[28990,0.1401,0.1606,0.2051],
[29031,0.2007,0.1727,-0.2796],
[29071,0.2481,0.1735,-0.7456],
[29111,0.2283,0.1635,-0.6485],
[29151,0.1751,0.1431,-0.3201],
[29191,0.1241,0.1138,-0.1029],
[29231,0.0835,0.0773,-0.0624],
[29271,0.0532,0.0349,-0.1836],
[29310,0.0329,-0.0088,-0.4171],
[29351,0.0143,-0.0518,-0.6612],
[29391,-0.0172,-0.0907,-0.7350],
[29431,-0.0667,-0.1250,-0.5826],
[29471,-0.1212,-0.1513,-0.3010],
[29511,-0.1682,-0.1682,-0.0000],
[29551,-0.2071,-0.1745,0.3259],
[29591,-0.2318,-0.1696,0.6222],
[29631,-0.2173,-0.1540,0.6333],
[29672,-0.1753,-0.1287,0.4656],
[29712,-0.1298,-0.0954,0.3440],
[29752,-0.0878,-0.0560,0.3177],
[29792,-0.0540,-0.0131,0.4081],
[29832,-0.0240,0.0305,0.5459],
[29872,0.0122,0.0723,0.6008],
[29912,0.0543,0.1096,0.5529],
[29953,0.1023,0.1399,0.3761],
[29992,0.1516,0.1619,0.1023],
[30032,0.1891,0.1730,-0.1604],
[30072,0.2164,0.1734,-0.4294],
[30112,0.2038,0.1631,-0.4070],
[30152,0.1751,0.1425,-0.3264],
[30192,0.1419,0.1121,-0.2982],
[30232,0.1177,0.0753,-0.4236],
[30272,0.0921,0.0338,-0.5833],
[30312,0.0562,-0.0099,-0.6603],
[30353,0.0140,-0.0529,-0.6691],
[30393,-0.0345,-0.0926,-0.5813],
[30433,-0.0820,-0.1265,-0.4449],
[30473,-0.1313,-0.1524,-0.2114],
[30513,-0.1671,-0.1688,-0.0164],
[30553,-0.1962,-0.1745,0.2164],
[30594,-0.2142,-0.1690,0.4518],
[30633,-0.2054,-0.1529,0.5247],
[30673,-0.1847,-0.1272,0.5746],
[30713,-0.1473,-0.0944,0.5283],
[30753,-0.1029,-0.0550,0.4789],
[30793,-0.0567,-0.0121,0.4464],
[30833,-0.0128,0.0316,0.4446],
[30873,0.0277,0.0743,0.4659],
[30913,0.0715,0.1113,0.3980],
[30953,0.1162,0.1412,0.2496],
[30994,0.1530,0.1623,0.0932],
[31034,0.1823,0.1732,-0.0912],
[31074,0.2028,0.1732,-0.2965],
[31114,0.2021,0.1623,-0.3980],
[31154,0.1849,0.1406,-0.4437],
[31194,0.1567,0.1104,-0.4632],
[31235,0.1234,0.0733,-0.5010],
[31273,0.0887,0.0316,-0.5704],
[31314,0.0514,-0.0121,-0.6344],
[31354,0.0102,-0.0539,-0.6416],
[31394,-0.0358,-0.0935,-0.5771],
[31434,-0.0830,-0.1272,-0.4427],
[31474,-0.1292,-0.1529,-0.2376],
[31514,-0.1681,-0.1693,-0.0121],
[31555,-0.1962,-0.1745,0.2165],
[31595,-0.2151,-0.1688,0.4632],
[31635,-0.2044,-0.1524,0.5202],
[31675,-0.1833,-0.1265,0.5687],
[31715,-0.1450,-0.0926,0.5245],
[31755,-0.1015,-0.0529,0.4863],
[31795,-0.0542,-0.0099,0.4437],
[31835,-0.0101,0.0338,0.4392],
[31876,0.0307,0.0763,0.4562],
[31916,0.0696,0.1129,0.4330],
[31955,0.1120,0.1425,0.3050],
[31995,0.1509,0.1631,0.1219],
[32035,0.1844,0.1733,-0.1109],
[32075,0.2074,0.1730,-0.3435],
[32115,0.2049,0.1619,-0.4304],
[32155,0.1762,0.1406,-0.3569],
[32195,0.1429,0.1096,-0.3334],
[32236,0.1150,0.0723,-0.4264],
[32276,0.0892,0.0305,-0.5862],
[32316,0.0602,-0.0131,-0.7333],
[32356,0.0150,-0.0560,-0.7101],
[32396,-0.0363,-0.0954,-0.5908],
[32436,-0.0900,-0.1287,-0.3869],
[32476,-0.1398,-0.1545,-0.1469],
[32516,-0.1792,-0.1698,0.0941],
[32557,-0.2088,-0.1745,0.3434],
[32596,-0.2031,-0.1682,0.3489],
[32636,-0.1862,-0.1513,0.3486],
[32676,-0.1627,-0.1257,0.3693],
[32716,-0.1334,-0.0917,0.4177],
[32756,-0.1037,-0.0518,0.5185],
[32796,-0.0679,-0.0077,0.6022],
[32837,-0.0272,0.0359,0.6316],
[32877,0.0205,0.0773,0.5674],
[32917,0.0712,0.1138,0.4254],
[32957,0.1197,0.1431,0.2344],
[32997,0.1614,0.1635,0.0203],
[33037,0.1967,0.1735,-0.2313],
[33077,0.2201,0.1726,-0.4760],
[33117,0.2113,0.1606,-0.5071],
[33158,0.1714,0.1386,-0.3287],
[33198,0.1335,0.1078,-0.2562],
[33238,0.1047,0.0703,-0.3438],
[33277,0.0824,0.0284,-0.5404],
[33317,0.0548,-0.0153,-0.7014],
[33357,0.0123,-0.0571,-0.6936],
[33397,-0.0393,-0.0963,-0.5695],
[33438,-0.0905,-0.1302,-0.3966],
[33478,-0.1338,-0.1550,-0.2121],
[33518,-0.1694,-0.1701,-0.0065],
[33558,-0.1948,-0.1745,0.2035],
[33598,-0.2096,-0.1679,0.4166],
[33638,-0.1996,-0.1508,0.4886],
[33678,-0.1789,-0.1234,0.5551],
[33718,-0.1453,-0.0888,0.5643],
[33759,-0.1012,-0.0487,0.5256],
[33799,-0.0562,-0.0055,0.5070],
[33839,-0.0073,0.0381,0.4540],
[33879,0.0392,0.0792,0.4003],
[33918,0.0806,0.1154,0.3477],
[33958,0.1169,0.1444,0.2749],
[33998,0.1467,0.1638,0.1709],
[34038,0.1724,0.1738,0.0140],
[34078,0.1902,0.1724,-0.1780],
[34119,0.1998,0.1602,-0.3958],
[34159,0.1944,0.1379,-0.5647],
[34199,0.1604,0.1070,-0.5344],
[34239,0.1199,0.0693,-0.5056],
[34279,0.0765,0.0273,-0.4915],
[34319,0.0354,-0.0164,-0.5183],
[34359,-0.0072,-0.0602,-0.5293],
[34399,-0.0475,-0.0990,-0.5149],
[34440,-0.0895,-0.1316,-0.4210],
[34480,-0.1290,-0.1560,-0.2697],
[34520,-0.1626,-0.1706,-0.0800],
[34560,-0.1872,-0.1744,0.1280],
[34599,-0.1989,-0.1673,0.3157],
[34639,-0.1909,-0.1502,0.4069],
[34679,-0.1755,-0.1226,0.5287],
[34719,-0.1474,-0.0879,0.5954],
[34760,-0.1102,-0.0476,0.6254],
[34800,-0.0647,-0.0044,0.6034],
[34840,-0.0170,0.0391,0.5613],
[34880,0.0346,0.0802,0.4565],
[34920,0.0837,0.1162,0.3255],
[34960,0.1275,0.1450,0.1745],
[35000,0.1606,0.1646,0.0399],
[35041,0.1888,0.1740,-0.1488],
[35081,0.2072,0.1720,-0.3521],
[35121,0.2016,0.1593,-0.4234],
[35161,0.1721,0.1366,-0.3552],
[35201,0.1406,0.1052,-0.3534],
[35240,0.1117,0.0673,-0.4438],
[35280,0.0835,0.0251,-0.5841],
[35321,0.0491,-0.0175,-0.6660],
[35361,0.0052,-0.0612,-0.6642],
[35401,-0.0434,-0.0999,-0.5655],
[35441,-0.0906,-0.1324,-0.4172],
[35481,-0.1386,-0.1565,-0.1793],
[35521,-0.1731,-0.1708,0.0233],
[35561,-0.1946,-0.1744,0.2023],
[35601,-0.1918,-0.1670,0.2481],
[35641,-0.1777,-0.1485,0.2916],
[35682,-0.1628,-0.1211,0.4169],
[35722,-0.1389,-0.0860,0.5287],
[35762,-0.1096,-0.0455,0.6403],
[35802,-0.0675,-0.0022,0.6533],
[35842,-0.0168,0.0413,0.5812],
[35881,0.0347,0.0822,0.4744],
[35921,0.0835,0.1179,0.3441],
[35961,0.1274,0.1462,0.1878],
[36002,0.1611,0.1653,0.0422],
[36042,0.1894,0.1740,-0.1541],
[36082,0.2070,0.1718,-0.3517],
[36122,0.2005,0.1588,-0.4169],
[36162,0.1697,0.1359,-0.3387],
[36202,0.1373,0.1044,-0.3290],
[36242,0.1076,0.0653,-0.4237],
[36282,0.0805,0.0230,-0.5754],
[36322,0.0485,-0.0208,-0.6926],
[36363,0.0044,-0.0632,-0.6762],
[36403,-0.0461,-0.1017,-0.5555],
[36443,-0.0938,-0.1338,-0.3998],
[36483,-0.1393,-0.1575,-0.1816],
[36523,-0.1736,-0.1712,0.0236],
[36562,-0.1932,-0.1743,0.1898],
[36602,-0.1887,-0.1660,0.2270],
[36643,-0.1757,-0.1479,0.2778],
[36683,-0.1620,-0.1203,0.4172],
[36723,-0.1391,-0.0850,0.5406],
[36763,-0.1077,-0.0445,0.6324],
[36803,-0.0644,-0.0011,0.6335],
[36843,-0.0152,0.0423,0.5757],
[36883,0.0333,0.0831,0.4986],
[36924,0.0848,0.1195,0.3466],
[36964,0.1311,0.1474,0.1627],
[37004,0.1695,0.1660,-0.0346],
[37044,0.1946,0.1742,-0.2046],
[37084,0.1929,0.1714,-0.2147],
[37124,0.1812,0.1579,-0.2324],
[37164,0.1623,0.1345,-0.2781],
[37203,0.1389,0.1026,-0.3629],
[37243,0.1119,0.0632,-0.4872],
[37284,0.0811,0.0219,-0.5925],
[37324,0.0451,-0.0219,-0.6696],
[37364,0.0004,-0.0642,-0.6463],
[37404,-0.0482,-0.1026,-0.5436],
[37444,-0.0962,-0.1345,-0.3828],
[37484,-0.1387,-0.1579,-0.1925],
[37525,-0.1699,-0.1716,-0.0176],
[37564,-0.1926,-0.1741,0.1847],
[37605,-0.1990,-0.1656,0.3333],
[37645,-0.1866,-0.1468,0.3985],
[37685,-0.1675,-0.1187,0.4884],
[37725,-0.1375,-0.0831,0.5437],
[37765,-0.1012,-0.0423,0.5888],
[37805,-0.0583,0.0022,0.6053],
[37844,-0.0111,0.0455,0.5661],
[37884,0.0363,0.0860,0.4969],
[37925,0.0831,0.1211,0.3795],
[37965,0.1273,0.1479,0.2067],
[38005,0.1648,0.1663,0.0154],
[38045,0.1926,0.1743,-0.1838],
[38085,0.2100,0.1712,-0.3873],
[38125,0.1998,0.1575,-0.4239],
[38165,0.1677,0.1331,-0.3459],
[38205,0.1328,0.1008,-0.3195],
[38246,0.1008,0.0622,-0.3860],
[38286,0.0750,0.0197,-0.5531],
[38326,0.0441,-0.0240,-0.6815],
[38366,0.0025,-0.0663,-0.6875],
[38406,-0.0471,-0.1044,-0.5722],
[38446,-0.0989,-0.1359,-0.3695],
[38487,-0.1422,-0.1593,-0.1707],
[38526,-0.1747,-0.1720,0.0266],
[38566,-0.1922,-0.1740,0.1830],
[38606,-0.1850,-0.1653,0.1971],
[38646,-0.1733,-0.1462,0.2709],
[38686,-0.1604,-0.1179,0.4253],
[38726,-0.1361,-0.0822,0.5390],
[38766,-0.1071,-0.0402,0.6689],
[38807,-0.0629,0.0033,0.6616],
[38847,-0.0116,0.0466,0.5817],
[38887,0.0417,0.0869,0.4530],
[38927,0.0919,0.1219,0.2995],
[38967,0.1334,0.1491,0.1570],
[39007,0.1687,0.1670,-0.0173],
[39047,0.1909,0.1744,-0.1656],
[39087,0.1897,0.1706,-0.1915],
[39127,0.1783,0.1560,-0.2232],
[39168,0.1580,0.1316,-0.2632],
[39207,0.1362,0.0990,-0.3717],
[39247,0.1121,0.0612,-0.5087],
[39287,0.0814,0.0186,-0.6276],
[39327,0.0425,-0.0251,-0.6763],
[39367,-0.0057,-0.0673,-0.6156],
[39407,-0.0547,-0.1061,-0.5141],
[39448,-0.1003,-0.1372,-0.3695],
[39488,-0.1406,-0.1597,-0.1910],
[39528,-0.1668,-0.1722,-0.0536],
[39568,-0.1840,-0.1739,0.1018],
[39608,-0.1913,-0.1646,0.2669],
[39648,-0.1825,-0.1450,0.3750],
[39688,-0.1657,-0.1162,0.4944],
[39728,-0.1435,-0.0792,0.6428],
[39768,-0.1056,-0.0381,0.6753],
[39809,-0.0546,0.0055,0.6003],
[39848,-0.0022,0.0487,0.5086],
[39888,0.0513,0.0888,0.3752],
[39928,0.0969,0.1226,0.2570],
[39968,0.1360,0.1497,0.1369],
[40008,0.1677,0.1673,-0.0045],
[40048,0.1869,0.1744,-0.1250],
[40088,0.1862,0.1703,-0.1584],
[40129,0.1802,0.1555,-0.2465],
[40169,0.1607,0.1309,-0.2976],
[40209,0.1389,0.0981,-0.4077],
[40249,0.1108,0.0591,-0.5170],
[40289,0.0782,0.0164,-0.6176],
[40329,0.0368,-0.0273,-0.6407],
[40369,-0.0107,-0.0703,-0.5958],
[40409,-0.0595,-0.1078,-0.4838],
[40449,-0.1026,-0.1386,-0.3598],
[40489,-0.1395,-0.1606,-0.2109],
[40529,-0.1650,-0.1726,-0.0754],
[40569,-0.1819,-0.1738,0.0818],
[40609,-0.1839,-0.1642,0.1967],
[40649,-0.1750,-0.1437,0.3123],
[40689,-0.1587,-0.1146,0.4408],
[40730,-0.1368,-0.0783,0.5852],
[40770,-0.1006,-0.0370,0.6357],
[40810,-0.0566,0.0066,0.6318],
[40850,-0.0068,0.0497,0.5652],
[40890,0.0446,0.0898,0.4516],
[40930,0.0934,0.1242,0.3078],
[40970,0.1358,0.1508,0.1501],
[41010,0.1703,0.1679,-0.0241],
[41051,0.1922,0.1745,-0.1771],
[41091,0.1904,0.1698,-0.2052],
[41131,0.1748,0.1545,-0.2028],
[41170,0.1574,0.1295,-0.2792],
[41210,0.1355,0.0972,-0.3826],
[41250,0.1085,0.0581,-0.5044],
[41290,0.0775,0.0153,-0.6214],
[41330,0.0374,-0.0295,-0.6687],
[41371,-0.0099,-0.0713,-0.6147],
[41411,-0.0605,-0.1087,-0.4817],
[41451,-0.1062,-0.1392,-0.3303],
[41491,-0.1443,-0.1610,-0.1675],
[41531,-0.1710,-0.1727,-0.0172],
[41571,-0.1877,-0.1735,0.1414],
[41611,-0.1899,-0.1631,0.2684],
[41651,-0.1783,-0.1425,0.3579],
[41692,-0.1613,-0.1129,0.4833],
[41732,-0.1342,-0.0763,0.5793],
[41772,-0.0986,-0.0349,0.6377],
[41811,-0.0528,0.0088,0.6160],
[41851,-0.0015,0.0518,0.5339],
[41891,0.0480,0.0907,0.4270],
[41931,0.0913,0.1257,0.3441],
[41971,0.1272,0.1519,0.2471],
[42012,0.1545,0.1685,0.1400],
[42052,0.1767,0.1745,-0.0217],
[42092,0.1858,0.1696,-0.1623],
[42132,0.1853,0.1540,-0.3132],
[42172,0.1729,0.1287,-0.4423],
[42212,0.1450,0.0954,-0.4962],
[42252,0.1084,0.0560,-0.5239],
[42292,0.0695,0.0131,-0.5638],
[42333,0.0280,-0.0316,-0.5961],
[42373,-0.0151,-0.0733,-0.5820],
[42413,-0.0597,-0.1104,-0.5071],
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