Time (s) Desired Pos (Actual Pos (c Motor CurrenTable Acc (g) Floor 1 Acc (gFloor 2 Acc (g)

0 0.115 0.184 -0.333 0 0.05 0

0.0005 0.113 0.183 -0.335 0 0.052 0
0.001 0.111 0.181 -0.335 0 0.055 0
0.0015 0.11 0.179 -0.334 0 0.058 0
0.002 0.108 0.178 -0.331 0 0.061 0
0.0025 0.106 0.176 -0.327 0 0.066 0
0.003 0.104 0.174 -0.324 0 0.071 0
0.0035 0.102 0.172 -0.32 0 0.077 0
0.004 0.1 0.17 -0.316 0 0.082 0
0.0045 0.099 0.168 -0.311 0 0.087 0
0.005 0.097 0.167 -0.303 0 0.092 0
0.0055 0.095 0.164 -0.294 0 0.095 0
0.006 0.093 0.163 -0.288 0 0.096 0
0.0065 0.091 0.161 -0.28 0 0.097 0
0.007 0.089 0.159 -0.276 0 0.098 0
0.0075 0.088 0.157 -0.267 0.001 0.097 0
0.008 0.086 0.155 -0.262 0.001 0.096 0
0.0085 0.084 0.153 -0.257 0.001 0.096 0
0.009 0.082 0.151 -0.256 0.001 0.094 0
0.0095 0.08 0.149 -0.251 0 0.093 0
0.01 0.078 0.147 -0.247 0 0.091 0
0.0105 0.076 0.145 -0.243 0 0.089 0
0.011 0.074 0.144 -0.246 0 0.087 0
0.0115 0.073 0.142 -0.247 0 0.085 0
0.012 0.071 0.14 -0.25 0 0.082 0
0.0125 0.069 0.138 -0.247 0 0.08 0
0.013 0.067 0.136 -0.247 0 0.079 0
0.0135 0.065 0.134 -0.247 0 0.078 0
0.014 0.063 0.132 -0.244 0 0.077 0
0.0145 0.061 0.13 -0.248 0 0.076 0
0.015 0.059 0.129 -0.246 0 0.076 0
0.0155 0.057 0.127 -0.244 0 0.075 0
0.016 0.056 0.125 -0.245 0 0.073 0
0.0165 0.054 0.123 -0.247 0 0.07 0
0.017 0.052 0.121 -0.25 0 0.067 0
0.0175 0.05 0.119 -0.255 0 0.063 0
0.018 0.048 0.117 -0.259 0 0.058 0
0.0185 0.046 0.115 -0.261 0 0.054 0
0.019 0.044 0.114 -0.262 0 0.05 0
0.0195 0.042 0.112 -0.266 0 0.046 0
0.02 0.04 0.11 -0.267 0 0.043 0
0.0205 0.038 0.108 -0.271 0 0.041 0
0.021 0.036 0.106 -0.272 0 0.039 0
0.0215 0.034 0.104 -0.274 0 0.038 0
 0.022 0.032 0.103 -0.279 0 0.037 0
0.0225 0.03 0.101 -0.279 0 0.036 0
0.023 0.029 0.099 -0.279 0.001 0.036 0
0.0235 0.027 0.097 -0.279 0.001 0.037 0
0.024 0.025 0.095 -0.281 0.001 0.039 0
0.0245 0.023 0.093 -0.281 0.001 0.042 0
0.025 0.021 0.091 -0.286 0.001 0.045 0
0.0255 0.019 0.09 -0.291 0.001 0.049 0
0.026 0.017 0.088 -0.294 0.001 0.053 0
0.0265 0.015 0.086 -0.299 0.001 0.057 0
0.027 0.013 0.084 -0.306 0.002 0.06 0
0.0275 0.011 0.082 -0.308 0.002 0.063 0
0.028 0.009 0.08 -0.315 0.002 0.066 0
0.0285 0.007 0.079 -0.315 0.002 0.069 0
0.029 0.005 0.077 -0.322 0.002 0.072 0
0.0295 0.003 0.075 -0.283 0.002 0.075 0
0.03 0.001 0.073 -0.26 0.002 0.078 0
0.0305 -0.001 0.071 -0.263 0.001 0.08 0
0.031 -0.003 0.069 -0.258 0.001 0.083 0
0.0315 -0.007 0.067 -0.255 0.001 0.086 0
0.032 -0.012 0.065 -0.25 0.001 0.089 0
0.0325 -0.019 0.063 -0.247 0.001 0.092 0
0.033 -0.026 0.061 -0.251 0.001 0.095 0
0.0335 -0.036 0.059 -0.272 0.001 0.098 0
0.034 -0.046 0.057 -0.301 0.001 0.102 0
0.0345 -0.058 0.054 -0.338 0.001 0.105 0
0.035 -0.071 0.052 -0.399 0.001 0.109 0
0.0355 -0.086 0.05 -0.477 0.001 0.112 0
0.036 -0.102 0.047 -0.583 0.001 0.116 0
0.0365 -0.12 0.044 -0.704 0.001 0.119 0
0.037 -0.138 0.042 -0.847 0.001 0.121 0
0.0375 -0.158 0.039 -1.004 0.001 0.122 0
0.038 -0.178 0.035 -1.17 0.001 0.122 0
0.0385 -0.198 0.032 -1.361 0 0.121 0
0.039 -0.218 0.028 -1.578 0 0.119 0
0.0395 -0.238 0.024 -1.798 0 0.116 0
0.04 -0.258 0.02 -2.015 0 0.112 0
0.0405 -0.278 0.015 -2.224 0 0.108 0
0.041 -0.298 0.01 -2.431 0 0.105 0
0.0415 -0.318 0.004 -2.553 0 0.101 0
0.042 -0.338 -0.002 -2.604 0 0.097 0
0.0425 -0.358 -0.009 -2.856 0 0.094 0
0.043 -0.378 -0.016 -3.043 0 0.091 0
0.0435 -0.398 -0.023 -3.206 0 0.088 0
0.044 -0.418 -0.03 -3.356 0 0.084 0
0.0445 -0.438 -0.039 -3.485 0 0.08 0
0.045 -0.457 -0.047 -3.61 0 0.077 0
0.0455 -0.477 -0.055 -3.754 0 0.074 0
0.046 -0.497 -0.063 -3.916 0 0.072 0
0.0465 -0.517 -0.072 -3.532 0 0.069 0
0.047 -0.537 -0.081 -3.918 0 0.065 0
0.0475 -0.557 -0.09 -4.12 0 0.063 0
0.048 -0.577 -0.099 -4.289 0 0.066 0
0.0485 -0.597 -0.109 -4.443 0 0.071 0
0.049 -0.617 -0.12 -4.601 0 0.076 0
0.0495 -0.637 -0.131 -4.79 0 0.078 0
0.05 -0.657 -0.143 -4.553 0 0.075 0
0.0505 -0.677 -0.155 -4.626 0 0.07 0
0.051 -0.697 -0.169 -4.791 0 0.064 0
0.0515 -0.717 -0.182 -4.868 0 0.058 0
0.052 -0.737 -0.196 -4.92 0 0.05 0
0.0525 -0.757 -0.212 -4.967 0 0.039 0
0.053 -0.777 -0.227 -4.52 0 0.022 0
0.0535 -0.797 -0.244 -4.461 0 0.002 0
0.054 -0.816 -0.261 -4.428 0 -0.02 0
0.0545 -0.836 -0.278 -4.354 0 -0.04 0
0.055 -0.856 -0.296 -3.856 0 -0.058 0
0.0555 -0.876 -0.314 -3.745 0 -0.076 0
0.056 -0.896 -0.332 -3.589 0 -0.095 0
0.0565 -0.916 -0.351 -3.335 0 -0.117 0
0.057 -0.936 -0.369 -2.976 0 -0.137 0
0.0575 -0.956 -0.388 -2.823 0 -0.155 0
0.058 -0.976 -0.407 -2.639 0 -0.172 0
0.0585 -0.996 -0.426 -2.365 0 -0.19 0
0.059 -1.016 -0.445 -2.155 0 -0.206 0
0.0595 -1.036 -0.464 -2.01 0 -0.214 0
0.06 -1.056 -0.484 -1.873 0 -0.208 0
0.0605 -1.076 -0.503 -1.593 0 -0.184 0
0.061 -1.096 -0.522 -1.487 0 -0.144 0
0.0615 -1.116 -0.542 -1.324 0 -0.096 0
0.062 -1.136 -0.562 -1.184 0 -0.05 0
0.0625 -1.156 -0.582 -0.97 -0.001 -0.013 0
0.063 -1.176 -0.602 -0.81 -0.001 0.014 0
0.0635 -1.195 -0.622 -0.635 -0.001 0.03 0
0.064 -1.215 -0.642 -0.518 -0.001 0.039 0
0.0645 -1.235 -0.662 -0.384 -0.001 0.044 0
0.065 -1.255 -0.682 -0.253 -0.001 0.047 0
0.0655 -1.275 -0.703 -0.176 -0.001 0.053 0
0.066 -1.295 -0.722 -0.14 -0.001 0.063 0
0.0665 -1.315 -0.742 -0.056 -0.001 0.079 0
 0.067 -1.335 -0.762 0.033 -0.001 0.098 0
0.0675 -1.355 -0.782 0.088 -0.001 0.118 0
0.068 -1.375 -0.802 0.178 -0.001 0.141 0
0.0685 -1.395 -0.821 0.279 -0.001 0.166 0
0.069 -1.415 -0.841 0.339 -0.001 0.195 0
0.0695 -1.435 -0.86 0.357 -0.001 0.225 0
0.07 -1.455 -0.879 0.422 -0.001 0.256 0
0.0705 -1.475 -0.898 0.483 -0.001 0.288 0
0.071 -1.495 -0.917 0.49 -0.001 0.323 0
0.0715 -1.515 -0.936 0.515 -0.001 0.365 0
0.072 -1.535 -0.955 0.577 -0.001 0.417 0
0.0725 -1.554 -0.974 0.611 -0.001 0.481 0
0.073 -1.574 -0.993 0.602 -0.001 0.551 0
0.0735 -1.594 -1.013 0.626 -0.001 0.622 0
0.074 -1.614 -1.032 0.681 -0.001 0.682 0
0.0745 -1.634 -1.051 0.705 -0.001 0.724 0
0.075 -1.654 -1.07 0.625 0 0.746 0
0.0755 -1.674 -1.09 0.711 0 0.748 0
0.076 -1.694 -1.108 0.777 0 0.739 0
0.0765 -1.714 -1.127 0.761 0 0.727 0
0.077 -1.734 -1.146 0.658 0 0.719 0
0.0775 -1.754 -1.164 0.827 0 0.717 0
0.078 -1.774 -1.182 0.841 0 0.718 0
0.0785 -1.794 -1.2 0.757 0 0.719 0
0.079 -1.814 -1.218 0.72 0 0.717 0
0.0795 -1.834 -1.236 0.722 0 0.715 0
0.08 -1.854 -1.253 0.68 0 0.716 0
0.0805 -1.873 -1.271 0.581 0 0.72 0
0.081 -1.891 -1.288 0.487 0 0.729 0
0.0815 -1.908 -1.306 0.433 0 0.74 0
0.082 -1.924 -1.322 0.36 0 0.753 0
0.0825 -1.938 -1.339 0.288 0 0.768 0
0.083 -1.951 -1.357 0.267 0 0.785 0
0.0835 -1.962 -1.373 0.257 0 0.806 0
0.084 -1.972 -1.39 0.246 0 0.831 0
0.0845 -1.981 -1.407 0.23 0 0.854 0
0.085 -1.988 -1.424 0.232 0 0.87 0
0.0855 -1.994 -1.441 0.256 0 0.874 0
0.086 -1.999 -1.457 0.291 0 0.863 0
0.0865 -2.002 -1.474 0.335 0 0.837 0
0.087 -2.003 -1.49 0.322 0 0.8 0
0.0875 -2.004 -1.506 0.426 0 0.757 0
0.088 -2.003 -1.523 0.561 0 0.714 0
0.0885 -2.001 -1.539 0.707 0 0.676 0
0.089 -1.997 -1.554 0.698 0 0.645 0
0.0895 -1.992 -1.57 0.854 0 0.619 0
0.09 -1.985 -1.584 1.228 0 0.596 0
0.0905 -1.977 -1.599 1.47 0 0.579 0
0.091 -1.968 -1.613 1.682 0 0.569 0
0.0915 -1.958 -1.627 1.765 0 0.567 0
0.092 -1.946 -1.641 2.056 0 0.572 0
0.0925 -1.934 -1.654 2.364 0 0.582 0
0.093 -1.922 -1.666 2.667 0 0.597 0
0.0935 -1.91 -1.678 2.947 0 0.617 0
0.094 -1.898 -1.689 3.234 0 0.645 0
0.0945 -1.886 -1.7 3.547 0 0.676 0
0.095 -1.874 -1.711 3.839 0 0.704 0
0.0955 -1.862 -1.721 4.121 0 0.722 0
0.096 -1.849 -1.731 4.409 0 0.726 0
0.0965 -1.837 -1.741 4.713 0 0.72 0
0.097 -1.824 -1.75 4.972 0 0.709 0
0.0975 -1.811 -1.758 5.256 0 0.7 0
0.098 -1.798 -1.766 5.208 -0.001 0.695 0
0.0985 -1.784 -1.774 5.646 -0.001 0.694 0
0.099 -1.77 -1.78 5.986 -0.001 0.694 0
0.0995 -1.756 -1.786 6.313 -0.001 0.693 0
0.1 -1.742 -1.791 6.617 -0.001 0.69 0
0.1005 -1.727 -1.794 6.884 -0.001 0.688 0
0.101 -1.712 -1.797 7.103 -0.001 0.691 0
0.1015 -1.697 -1.799 7.285 -0.001 0.704 0
0.102 -1.681 -1.8 7.433 -0.001 0.726 0
0.1025 -1.666 -1.8 7.544 -0.001 0.758 0
0.103 -1.649 -1.798 7.596 -0.001 0.798 0
0.1035 -1.633 -1.796 7.621 -0.001 0.847 0
0.104 -1.616 -1.792 7.632 -0.001 0.903 0
0.1045 -1.599 -1.788 7.607 -0.001 0.967 0
0.105 -1.581 -1.782 7.516 -0.001 1.034 0
0.1055 -1.563 -1.776 7.405 -0.001 1.098 0
0.106 -1.545 -1.77 7.28 -0.001 1.154 0
0.1065 -1.527 -1.763 7.141 -0.001 1.2 0
0.107 -1.508 -1.756 6.391 -0.001 1.233 0
0.1075 -1.489 -1.748 6.188 -0.001 1.256 0
0.108 -1.469 -1.739 6.188 -0.001 1.271 0
0.1085 -1.449 -1.73 6.09 0 1.28 0
0.109 -1.429 -1.72 5.966 0 1.281 0
0.1095 -1.41 -1.71 5.838 0 1.276 0
0.11 -1.39 -1.698 5.713 0 1.264 0
0.1105 -1.37 -1.686 5.597 0 1.243 0
0.111 -1.35 -1.674 5.034 0 1.214 0
0.1115 -1.33 -1.661 4.798 0 1.18 0
 0.112 -1.31 -1.647 4.628 0 1.145 0
0.1125 -1.29 -1.632 4.416 0 1.117 0
0.113 -1.27 -1.618 4.207 0 1.101 0
0.1135 -1.25 -1.603 3.618 0 1.099 0
0.114 -1.23 -1.587 3.375 0 1.109 0
0.1145 -1.21 -1.571 3.111 0 1.126 0
0.115 -1.19 -1.555 2.852 0 1.143 0
0.1155 -1.17 -1.539 2.361 0 1.153 0
0.116 -1.15 -1.522 2.142 0 1.154 0
0.1165 -1.13 -1.506 1.855 0 1.141 0
0.117 -1.11 -1.49 1.587 0 1.116 0
0.1175 -1.09 -1.473 1.33 0 1.077 0
0.118 -1.07 -1.457 1.08 0.001 1.025 0
0.1185 -1.051 -1.44 0.832 0.001 0.963 0
0.119 -1.031 -1.424 0.625 0.001 0.892 0
0.1195 -1.011 -1.408 0.474 0.001 0.815 0
0.12 -0.991 -1.391 0.355 0.001 0.732 0
0.1205 -0.971 -1.375 0.254 0.001 0.642 0
0.121 -0.951 -1.359 0.182 0.001 0.546 0
0.1215 -0.931 -1.343 0.129 0.001 0.446 0
0.122 -0.911 -1.327 0.076 0.001 0.344 0
0.1225 -0.891 -1.311 0.002 0.001 0.245 0
0.123 -0.871 -1.296 -0.071 0.001 0.153 0
0.1235 -0.851 -1.28 -0.132 0.001 0.073 0
0.124 -0.831 -1.264 -0.175 0.001 0.01 0
0.1245 -0.811 -1.248 -0.176 0.001 -0.033 0
0.125 -0.791 -1.233 -0.211 0.001 -0.056 0
0.1255 -0.771 -1.218 -0.25 0.001 -0.066 0
0.126 -0.751 -1.202 -0.285 0.001 -0.067 0
0.1265 -0.731 -1.187 -0.308 0 -0.064 0
0.127 -0.711 -1.172 -0.304 0 -0.063 0
0.1275 -0.691 -1.156 -0.32 0 -0.068 0
0.128 -0.672 -1.141 -0.342 0 -0.082 0
0.1285 -0.652 -1.126 -0.329 0 -0.107 0
0.129 -0.632 -1.11 -0.257 0 -0.139 0
0.1295 -0.612 -1.095 -0.248 0 -0.177 0
0.13 -0.592 -1.079 -0.261 0 -0.216 0
0.1305 -0.572 -1.063 -0.254 0 -0.256 0
0.131 -0.552 -1.048 -0.176 0 -0.294 0
0.1315 -0.532 -1.032 -0.135 0 -0.333 0
0.132 -0.512 -1.016 -0.154 0 -0.376 0
0.1325 -0.492 -1 -0.163 0 -0.42 0
0.133 -0.472 -0.985 -0.133 0 -0.461 0
0.1335 -0.452 -0.969 -0.081 0 -0.492 0
0.134 -0.432 -0.953 -0.081 0 -0.507 0
0.1345 -0.412 -0.937 -0.072 0 -0.503 0
0.135 -0.392 -0.922 -0.033 0 -0.479 0
0.1355 -0.372 -0.906 0.013 0 -0.439 0
0.136 -0.352 -0.891 0.029 0 -0.389 0
0.1365 -0.332 -0.876 0.039 0 -0.335 0
0.137 -0.313 -0.861 0.047 0 -0.283 0
0.1375 -0.293 -0.845 0.074 0 -0.238 0
0.138 -0.273 -0.83 0.126 0 -0.202 0
0.1385 -0.253 -0.815 0.167 0 -0.179 0
0.139 -0.233 -0.8 0.197 0 -0.173 0
0.1395 -0.213 -0.784 0.249 0 -0.186 0
0.14 -0.193 -0.769 0.339 0 -0.216 0
0.1405 -0.173 -0.754 0.349 0 -0.256 0
0.141 -0.153 -0.739 0.441 0 -0.299 0
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0.148 0.126 -0.525 1.875 0 -0.595 0
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0.149 0.166 -0.493 2.169 0 -0.615 0
0.1495 0.186 -0.476 2.057 0 -0.657 0
0.15 0.206 -0.459 2.196 0 -0.718 0
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0.155 0.406 -0.274 1.879 0 -1.261 0
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0.156 0.445 -0.235 1.738 0 -1.258 0
0.1565 0.465 -0.215 1.651 0 -1.236 0
 0.157 0.485 -0.196 1.523 0 -1.21 0
0.1575 0.505 -0.177 1.503 0 -1.184 0
0.158 0.525 -0.157 1.446 0 -1.159 0
0.1585 0.545 -0.137 1.418 0 -1.134 0
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0.1595 0.585 -0.098 1.335 0 -1.1 0
0.16 0.605 -0.078 1.308 0 -1.105 0
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0.162 0.685 0.003 1.085 0 -1.268 0
0.1625 0.705 0.023 0.981 0 -1.309 0
0.163 0.725 0.043 0.931 0 -1.343 0
0.1635 0.745 0.064 0.871 0 -1.37 0
0.164 0.765 0.084 0.752 0 -1.387 0
0.1645 0.784 0.105 0.648 0 -1.394 0
0.165 0.804 0.126 0.577 0 -1.394 0
0.1655 0.824 0.147 0.524 0 -1.389 0
0.166 0.844 0.168 0.436 0 -1.382 0
0.1665 0.864 0.188 0.339 0 -1.369 0
0.167 0.884 0.209 0.258 0 -1.348 0
0.1675 0.904 0.23 0.26 0 -1.316 0
0.168 0.924 0.251 0.229 0 -1.278 0
0.1685 0.944 0.271 0.185 0 -1.24 0
0.169 0.964 0.292 0.175 0 -1.208 0
0.1695 0.984 0.312 0.158 0 -1.187 0
0.17 1.004 0.333 0.119 0 -1.18 0
0.1705 1.024 0.354 0.12 0 -1.19 0
0.171 1.044 0.374 0.107 0 -1.222 0
0.1715 1.064 0.394 0.062 0 -1.278 0
0.172 1.084 0.415 0.019 0 -1.35 0
0.1725 1.104 0.435 0.015 0 -1.429 0
0.173 1.124 0.455 0.005 0 -1.506 0
0.1735 1.143 0.475 -0.022 0 -1.574 0
0.174 1.163 0.496 -0.019 0 -1.631 0
0.1745 1.183 0.516 -0.069 0 -1.675 0
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0.1755 1.223 0.555 -0.148 0 -1.727 0
0.176 1.243 0.575 -0.133 0 -1.744 0
0.1765 1.263 0.595 -0.106 0 -1.763 0
0.177 1.283 0.615 -0.111 0 -1.785 0
0.1775 1.303 0.635 -0.105 0 -1.807 0
0.178 1.323 0.655 -0.019 0 -1.823 0
0.1785 1.343 0.674 0.009 0 -1.833 0
0.179 1.363 0.694 0.013 0 -1.839 0
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5.1855 0.766 0.08 1.586 0 0.949 0
5.186 0.786 0.1 1.395 0 0.832 0
5.1865 0.806 0.121 1.348 0 0.723 0
5.187 0.826 0.142 1.252 0 0.621 0
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 5.197 1.225 0.565 -0.278 0 0.484 0
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5.2195 1.82 1.431 -1.991 0 -1.064 0
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