Sample Time Commanded Pos Encoder 1 Pos Encoder 2 Pos Encoder 3 Pos

0 0,000 2196,8438 0,0000 0,0000 0,0000

1 0,018 2196,8438 188,0625 5,4688 3,5313
2 0,035 2196,8438 753,1250 16,1563 5,0000
3 0,053 2196,8438 1660,4063 61,5313 5,1563
4 0,071 2196,8438 2392,7813 170,2188 -0,8125
5 0,089 2196,8438 2520,3438 373,1563 5,3125
6 0,106 2196,8438 2253,7500 673,4063 51,0313
7 0,124 2196,8438 2161,0313 1015,1563 135,0000
8 0,142 2196,8438 2210,2188 1365,2500 274,0625
9 0,159 2196,8438 2226,0000 1694,4063 477,5938
10 0,177 2196,8438 2223,3438 1979,6875 749,1563
11 0,195 2196,8438 2228,9375 2210,4375 1091,8125
12 0,213 0,0000 2188,4375 2382,4688 1499,8750
13 0,230 0,0000 1717,4063 2510,9375 1974,0000
14 0,248 0,0000 798,0313 2568,3125 2476,3750
15 0,266 0,0000 -102,5313 2540,7188 2985,2813
16 0,283 0,0000 -469,1563 2400,0000 3453,2188
17 0,301 0,0000 -326,5938 2167,9688 3839,8750
18 0,319 0,0000 47,5313 1889,2188 4102,8750
19 0,336 0,0000 143,7500 1638,2188 4227,9688
20 0,354 0,0000 64,8750 1449,6563 4197,5313
21 0,372 0,0000 26,6875 1334,3125 4002,1563
22 0,390 0,0000 32,6250 1287,9375 3648,4688
23 0,407 0,0000 38,0000 1289,6250 3152,1563
24 0,425 0,0000 34,0313 1314,2500 2545,2500
25 0,443 0,0000 33,0313 1330,4688 1871,8750
26 0,460 0,0000 41,0000 1312,4688 1181,8750
27 0,478 0,0000 43,0000 1234,3750 522,7188
28 0,496 0,0000 37,0625 1072,5000 -72,0938
29 0,514 0,0000 29,0313 809,1563 -581,0938
30 0,531 0,0000 20,9063 443,4688 -992,0313
31 0,549 0,0000 12,3750 -7,5938 -1301,5313
32 0,567 0,0000 1,8125 -509,2500 -1515,4063
33 0,584 0,0000 -10,2188 -1020,3438 -1651,0938
34 0,602 0,0000 -23,0625 -1496,3750 -1733,7813
35 0,620 0,0000 -36,5000 -1903,5000 -1792,2188
36 0,638 0,0000 -47,1875 -2208,9688 -1853,3438
37 0,655 0,0000 -52,9688 -2390,3125 -1930,6563
38 0,673 0,0000 -53,9688 -2436,5000 -2029,4688
39 0,691 0,0000 -53,9688 -2344,8750 -2142,8125
40 0,708 0,0000 -50,2188 -2135,4375 -2257,1563
41 0,726 0,0000 -45,7500 -1834,4688 -2353,6250
42 0,744 0,0000 -40,0938 -1477,0000 -2409,1875
43 0,761 0,0000 -31,9063 -1102,6875 -2401,1563
44 0,779 0,0000 -21,4688 -742,9688 -2305,8438
45 0,797 0,0000 -11,4688 -425,5313 -2110,8438
46 0,815 0,0000 -3,3438 -169,8438 -1807,2500
47 0,832 0,0000 1,8438 13,8438 -1401,1250
48 0,850 0,0000 4,9063 126,9375 -909,1875
49 0,868 0,0000 6,7813 182,0313 -356,3125
50 0,885 0,0000 8,5938 199,6563 222,3438
51 0,903 0,0000 11,8438 206,8125 792,4063
52 0,921 0,0000 12,4688 231,2813 1319,0000
53 0,939 0,0000 13,0000 295,4688 1770,2813
54 0,956 0,0000 13,0313 413,7813 2124,1875
55 0,974 0,0000 16,5938 589,2500 2364,6875
56 0,992 0,0000 21,1875 816,6875 2489,2188
 57 1,009 0,0000 27,4375 1080,4063 2509,1875
58 1,027 0,0000 34,1250 1355,8438 2440,5000
59 1,045 0,0000 40,5625 1613,8125 2311,8125
60 1,063 0,0000 45,8750 1823,7188 2148,1875
61 1,080 0,0000 50,0313 1958,4688 1974,7500
62 1,098 0,0000 52,2500 1999,4688 1810,0000
63 1,116 0,0000 53,0000 1936,3750 1667,3125
64 1,133 0,0000 51,5313 1771,5938 1552,4375
65 1,151 0,0000 46,9063 1516,8438 1460,9375
66 1,169 0,0000 41,1563 1193,6875 1382,3125
67 1,186 0,0000 32,9063 829,2813 1298,9063
68 1,204 0,0000 23,0938 455,7500 1193,1563
69 1,222 0,0000 13,5938 102,4375 1048,5313
70 1,240 0,0000 3,5000 -202,3750 852,0313
71 1,257 0,0000 -5,9688 -439,5000 597,6875
72 1,275 0,0000 -11,2188 -598,1563 286,6563
73 1,293 0,0000 -14,0625 -679,7813 -70,8750
74 1,310 0,0000 -14,9688 -696,5000 -455,1563
75 1,328 0,0000 -15,6563 -664,4375 -843,3438
76 1,346 0,0000 -15,9688 -609,7500 -1206,6250
77 1,364 0,0000 -13,2500 -556,1250 -1518,8125
78 1,381 0,0000 -13,0000 -522,4063 -1757,3438
79 1,399 0,0000 -13,0000 -521,5625 -1905,0625
80 1,417 0,0000 -12,5625 -561,0313 -1954,9688
81 1,434 0,0000 -12,1563 -635,8438 -1910,2813
82 1,452 0,0000 -14,6250 -735,5000 -1780,1875
83 1,470 0,0000 -17,0000 -843,8125 -1584,4063
84 1,488 0,0000 -17,9688 -940,6250 -1342,7813
85 1,505 0,0000 -20,2188 -1005,5938 -1077,2813
86 1,523 0,0000 -21,9688 -1021,0000 -809,0000
87 1,541 0,0000 -21,9688 -972,9375 -556,3438
88 1,558 0,0000 -21,9688 -858,2188 -333,3125
89 1,576 0,0000 -18,2500 -679,3438 -146,0000
90 1,594 0,0000 -14,4063 -444,7813 4,1875
91 1,611 0,0000 -8,1563 -169,6250 124,2188
92 1,629 0,0000 -1,0000 123,6875 224,5313
93 1,647 0,0000 7,2500 412,1875 318,0000
94 1,665 0,0000 16,0000 672,0000 415,3750
95 1,682 0,0000 22,2813 883,3750 527,2188
96 1,700 0,0000 26,8750 1032,0313 660,3750
97 1,718 0,0000 29,7500 1111,4063 814,4063
98 1,735 0,0000 31,1250 1123,9688 984,5625
99 1,753 0,0000 32,0000 1075,3125 1161,2188
100 1,771 0,0000 29,4375 982,8125 1330,2500
101 1,789 0,0000 28,0313 863,8438 1473,6250
102 1,806 0,0000 25,5938 737,0625 1577,0625
103 1,824 0,0000 22,2188 620,0313 1626,8438
104 1,842 0,0000 19,5625 525,8438 1616,4375
105 1,859 0,0000 17,0938 463,0000 1540,3438
106 1,877 0,0000 15,6250 432,1875 1404,0938
107 1,895 0,0000 14,3125 427,5000 1214,4063
108 1,913 0,0000 14,0313 442,5938 983,7188
109 1,930 0,0000 14,0313 460,2188 728,1875
110 1,948 0,0000 14,0313 467,4688 465,5625
111 1,966 0,0000 14,0313 451,7188 213,2813
112 1,983 0,0000 14,0313 403,9375 -13,6250
113 2,001 0,0000 14,0000 320,3750 -203,8125
114 2,019 0,0000 9,5938 200,9688 -351,5625
115 2,036 0,0000 7,1563 50,7500 -456,3438
116 2,054 0,0000 3,3438 -120,1563 -521,4063
117 2,072 0,0000 -2,9688 -296,9688 -552,1875
118 2,090 0,0000 -8,0313 -464,2188 -558,9688
119 2,107 0,0000 -11,5625 -605,7813 -553,3438
120 2,125 0,0000 -14,9688 -709,3750 -545,9375
121 2,143 0,0000 -17,3125 -765,4063 -544,0000
122 2,160 0,0000 -17,9688 -771,8125 -551,4063
123 2,178 0,0000 -17,9688 -726,2813 -565,7188
124 2,196 0,0000 -17,9688 -639,7188 -580,9688
125 2,214 0,0000 -15,0000 -521,0625 -591,3438
126 2,231 0,0000 -12,6563 -381,6875 -592,9688
127 2,249 0,0000 -9,6250 -236,1250 -572,9375
128 2,267 0,0000 -5,7500 -96,6875 -529,4688
129 2,284 0,0000 -2,6875 24,8125 -457,4688
130 2,302 0,0000 0,1250 120,0938 -355,1250
131 2,320 0,0000 2,5000 185,4063 -223,9688
132 2,338 0,0000 5,3750 219,4688 -67,9375
133 2,355 0,0000 7,2188 228,4688 103,9063
134 2,373 0,0000 8,0000 221,0625 281,7188
135 2,391 0,0000 8,0000 207,0313 453,7813
136 2,408 0,0000 6,5313 196,5000 606,9375
137 2,426 0,0000 6,5313 194,5000 731,1250
138 2,444 0,0000 6,5313 211,8750 818,5625
139 2,461 0,0000 7,5313 245,5625 865,2813
140 2,479 0,0000 7,5313 294,6875 874,0000
141 2,497 0,0000 7,5313 355,3750 845,1563
142 2,515 0,0000 11,0000 419,6875 791,1250
143 2,532 0,0000 11,9375 478,8125 719,3438
144 2,550 0,0000 12,0625 523,5938 638,8438
145 2,568 0,0000 14,0313 546,4688 558,1875
146 2,585 0,0000 15,0000 543,3438 484,1875
147 2,603 0,0000 15,0000 509,9375 421,5313
148 2,621 0,0000 13,5313 450,8750 370,9375
149 2,639 0,0000 13,0000 368,8125 332,3438
150 2,656 0,0000 10,7813 271,5625 304,4063
151 2,674 0,0000 8,9063 167,3125 280,8750
152 2,692 0,0000 5,9063 65,1875 256,3438
153 2,709 0,0000 2,4063 -26,0938 225,4688
154 2,727 0,0000 -1,5938 -99,0625 185,7188
155 2,745 0,0000 -3,4375 -148,3438 135,5000
156 2,763 0,0000 -3,9688 -171,7813 74,7813
157 2,780 0,0000 -4,4688 -171,3125 7,0938
158 2,798 0,0000 -4,9688 -149,1563 -65,0313
159 2,816 0,0000 -4,9688 -116,0938 -134,5625
160 2,833 0,0000 -3,4688 -78,7813 -195,7188
161 2,851 0,0000 -3,4688 -43,8750 -240,8750
162 2,869 0,0000 -2,7813 -16,0000 -265,7500
163 2,886 0,0000 -1,3125 0,1250 -269,9688
164 2,904 0,0000 -1,0000 3,4688 -249,3438
165 2,922 0,0000 -1,0000 -5,9375 -212,7188
166 2,940 0,0000 -2,4688 -23,3750 -162,8125
167 2,957 0,0000 -1,4688 -41,9375 -105,1250
168 2,975 0,0000 -1,4688 -56,5000 -43,2813
169 2,993 0,0000 -2,4688 -63,5000 16,7188
170 3,010 0,0000 -2,4688 -61,8438 70,8438
171 3,028 0,0000 -2,4688 -47,2813 116,0000
172 3,046 0,0000 -2,4688 -22,3750 150,5625
173 3,064 0,0000 -1,4688 11,1250 174,6563
174 3,081 0,0000 -0,5625 50,7188 188,7188
175 3,099 0,0000 0,0000 93,5625 193,6563
176 3,117 0,0000 0,0000 135,4063 194,0000
177 3,134 0,0000 1,3125 171,6563 194,0000
178 3,152 0,0000 4,0000 198,4688 192,5313
179 3,170 0,0000 5,2813 212,3750 193,5313
180 3,188 0,0000 6,0000 215,4688 197,7188
181 3,205 0,0000 6,0000 205,8438 202,3750
182 3,223 0,0000 6,0000 187,3438 207,5938
183 3,241 0,0000 6,0000 163,0625 210,8750
184 3,258 0,0000 4,5313 136,5000 212,0000
185 3,276 0,0000 3,4375 110,9688 209,9063
186 3,294 0,0000 3,0313 88,5000 203,8438
187 3,311 0,0000 3,0313 71,7813 195,1875
188 3,329 0,0000 3,0313 61,5000 185,1563
189 3,347 0,0000 3,0313 58,5000 174,1563
190 3,365 0,0000 2,8125 60,0000 162,9688
191 3,382 0,0000 1,4375 66,3750 153,4375
192 3,400 0,0000 1,0313 73,9688 146,0313
193 3,418 0,0000 1,0313 81,0938 142,7813
194 3,435 0,0000 1,0313 86,9375 142,0313
195 3,453 0,0000 1,0313 91,2500 143,5313
196 3,471 0,0000 1,0313 93,4688 148,4063
197 3,489 0,0000 1,0313 93,4688 152,8125
198 3,506 0,0000 1,0313 93,4688 157,1563
199 3,524 0,0000 1,0313 92,0000 159,7188
200 3,542 0,0000 1,0313 92,0000 160,5938
201 3,559 0,0000 1,0313 92,0000 161,0000
202 3,577 0,0000 1,0313 92,0000 161,0000
203 3,595 0,0000 1,0313 92,0000 159,5313
204 3,613 0,0000 1,0313 92,0000 159,5313
205 3,630 0,0000 1,0313 92,0000 159,5313
206 3,648 0,0000 1,0313 92,0000 159,5313
207 3,666 0,0000 1,0313 92,0000 159,5313
208 3,683 0,0000 1,0313 92,0000 159,5313
209 3,701 0,0000 1,0313 92,0000 159,5313
210 3,719 0,0000 1,0313 92,0000 159,5313
211 3,736 0,0000 1,0313 92,0000 159,5313
212 3,754 0,0000 1,0313 92,0000 159,5313
213 3,772 0,0000 1,0313 92,0000 159,5313
214 3,790 0,0000 1,0313 91,4688 159,5313
215 3,807 0,0000 1,0313 89,8750 159,5313
216 3,825 0,0000 1,0313 89,5000 159,5313
217 3,843 0,0000 1,0313 89,5000 159,5313
218 3,860 0,0000 1,0313 91,0000 159,5313
219 3,878 0,0000 1,0313 92,4688 159,5313
220 3,896 0,0000 1,0313 92,4688 159,5313
221 3,914 0,0000 1,0313 92,4688 159,5313
222 3,931 0,0000 1,0313 91,0000 159,5313
223 3,949 0,0000 1,0313 91,0000 159,5313
224 3,967 0,0000 1,0313 91,0000 159,5313
225 3,984 0,0000 1,0313 91,0000 159,5313
226 4,002 0,0000 1,0313 91,0000 159,5313
227 4,020 0,0000 1,0313 91,0000 159,5313
228 4,038 0,0000 1,0313 91,0000 159,5313
229 4,055 0,0000 1,0313 91,0000 159,5313
230 4,073 0,0000 1,0313 91,0000 159,5313
231 4,091 0,0000 1,0313 91,0000 159,5313
232 4,108 0,0000 1,0313 91,0000 159,5313
233 4,126 0,0000 1,0313 91,0000 159,5313
234 4,144 0,0000 1,0313 91,0000 159,5313
235 4,161 0,0000 1,0313 91,0000 159,5313
236 4,179 0,0000 1,0313 91,0000 159,5313
237 4,197 0,0000 1,0313 91,0000 159,5313
238 4,215 0,0000 1,0313 91,0000 159,5313
239 4,232 0,0000 1,0313 91,0000 159,5313
240 4,250 0,0000 1,0313 91,0000 159,5313
241 4,268 0,0000 1,0313 91,0000 159,5313
242 4,285 0,0000 1,0313 91,0000 159,5313
243 4,303 0,0000 1,0313 91,0000 159,5313
244 4,321 0,0000 1,0313 91,0000 159,5313
245 4,339 0,0000 1,0313 91,0000 159,5313
246 4,356 0,0000 1,0313 91,0000 159,5313
247 4,374 0,0000 1,0313 91,0000 159,5313
248 4,392 0,0000 1,0313 91,0000 159,5313
249 4,409 0,0000 1,0313 91,0000 159,5313
250 4,427 0,0000 1,0313 91,0000 159,5313
251 4,445 0,0000 1,0313 91,0000 159,5313
252 4,463 0,0000 1,0313 91,0000 159,5313
253 4,480 0,0000 1,0313 91,0000 159,5313
254 4,498 0,0000 1,0313 91,0000 159,5313
255 4,516 0,0000 1,0313 91,0000 159,5313
256 4,533 0,0000 1,0313 91,0000 159,5313
257 4,551 0,0000 1,0313 91,0000 159,5313
258 4,569 0,0000 1,0313 91,0000 159,5313
259 4,586 0,0000 1,0313 91,0000 159,5313
260 4,604 0,0000 1,0313 91,0000 159,5313
261 4,622 0,0000 1,0313 91,0000 159,5313
262 4,640 0,0000 1,0313 91,0000 159,5313
263 4,657 0,0000 1,0313 91,0000 159,5313
264 4,675 0,0000 1,0313 91,0000 159,5313
265 4,693 0,0000 1,0313 91,0000 159,5313
266 4,710 0,0000 1,0313 91,0000 159,5313
267 4,728 0,0000 1,0313 91,0000 159,5313
268 4,746 0,0000 1,0313 91,0000 159,5313
269 4,764 0,0000 1,0313 91,0000 159,5313
270 4,781 0,0000 1,0313 91,0000 159,5313
271 4,799 0,0000 1,0313 91,0000 159,5313
272 4,817 0,0000 1,0313 91,0000 159,5313
273 4,834 0,0000 1,0313 91,0000 159,5313
274 4,852 0,0000 1,0313 91,0000 159,5313
275 4,870 0,0000 1,0313 91,0000 159,5313
276 4,888 0,0000 1,0313 91,0000 159,5313
277 4,905 0,0000 1,0313 91,0000 159,5313
278 4,923 0,0000 1,0313 91,0000 159,5313
279 4,941 0,0000 1,0313 91,0000 159,5313
280 4,958 0,0000 1,0313 91,0000 159,5313
281 4,976 0,0000 1,0313 91,0000 159,5313
282 4,994 0,0000 1,0313 91,0000 159,5313
283 5,011 0,0000 1,0313 91,0000 159,5313
284 5,029 0,0000 1,0313 91,0000 159,5313
285 5,047 0,0000 1,0313 91,0000 159,5313
286 5,065 0,0000 1,0313 91,0000 159,5313
287 5,082 0,0000 1,0313 91,0000 159,5313
288 5,100 0,0000 1,0313 91,0000 159,5313
289 5,118 0,0000 1,0313 91,0000 159,5313
290 5,135 0,0000 1,0313 91,0000 159,5313
291 5,153 0,0000 1,0313 91,0000 159,5313
292 5,171 0,0000 1,0313 91,0000 159,5313