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Sample Time Commanded Pos Encoder 1 Pos

[ 0 0.000 1000 217;


1 0.009 1000 217;
2 0.018 1000 220;
3 0.027 1000 228;
4 0.035 1000 238;
5 0.044 1000 251;
6 0.053 1000 266;
7 0.062 1000 285;
8 0.071 1000 306;
9 0.080 1000 329;
10 0.089 1000 355;
11 0.097 1000 382;
12 0.106 1000 412;
13 0.115 1000 443;
14 0.124 1000 476;
15 0.133 1000 509;
16 0.142 1000 544;
17 0.151 1000 580;
18 0.159 1000 618;
19 0.168 1000 656;
20 0.177 1000 695;
21 0.186 1000 734;
22 0.195 1000 775;
23 0.204 1000 815;
24 0.213 1000 856;
25 0.221 1000 896;
26 0.230 1000 936;
27 0.239 1000 976;
28 0.248 1000 1015;
29 0.257 1000 1054;
30 0.266 1000 1092;
31 0.274 1000 1129;
32 0.283 1000 1165;
33 0.292 1000 1200;
34 0.301 1000 1234;
35 0.310 1000 1267;
36 0.319 1000 1299;
37 0.328 1000 1330;
38 0.336 1000 1360;
39 0.345 1000 1388;
40 0.354 1000 1415;
41 0.363 1000 1440;
42 0.372 1000 1463;
43 0.381 1000 1485;
44 0.390 1000 1505;
45 0.398 1000 1523;
46 0.407 1000 1539;
47 0.416 1000 1554;
48 0.425 1000 1566;
49 0.434 1000 1575;
50 0.443 1000 1583;
51 0.452 1000 1588;
52 0.460 1000 1591;
53 0.469 1000 1592;
54 0.478 1000 1592;
55 0.487 1000 1589;
56 0.496 1000 1583;
57 0.505 1000 1576;
58 0.514 1000 1566;
59 0.522 1000 1555;
60 0.531 1000 1543;
61 0.540 1000 1529;
62 0.549 1000 1514;
63 0.558 1000 1498;
64 0.567 1000 1481;
65 0.576 1000 1463;
66 0.584 1000 1445;
67 0.593 1000 1426;
68 0.602 1000 1406;
69 0.611 1000 1386;
70 0.620 1000 1366;
71 0.629 1000 1345;
72 0.638 1000 1324;
73 0.646 1000 1304;
74 0.655 1000 1283;
75 0.664 1000 1261;
76 0.673 1000 1241;
77 0.682 1000 1220;
78 0.691 1000 1199;
79 0.699 1000 1179;
80 0.708 1000 1159;
81 0.717 1000 1139;
82 0.726 1000 1120;
83 0.735 1000 1101;
84 0.744 1000 1083;
85 0.753 1000 1066;
86 0.761 1000 1049;
87 0.770 1000 1032;
88 0.779 1000 1016;
89 0.788 1000 1001;
90 0.797 1000 987;
91 0.806 1000 973;
92 0.815 1000 960;
93 0.823 1000 948;
94 0.832 1000 936;
95 0.841 1000 926;
96 0.850 1000 917;
97 0.859 1000 908;
98 0.868 1000 901;
99 0.877 1000 895;
100 0.885 1000 889;
101 0.894 1000 885;
102 0.903 1000 882;
103 0.912 1000 880;
104 0.921 1000 879;
105 0.930 1000 879;
106 0.939 1000 879;
107 0.947 1000 881;
108 0.956 1000 884;
109 0.965 1000 888;
110 0.974 1000 893;
111 0.983 1000 898;
112 0.992 1000 904;
113 1.001 1000 910;
114 1.009 1000 917;
115 1.018 1000 924;
116 1.027 1000 931;
117 1.036 1000 938;
118 1.045 1000 946;
119 1.054 1000 954;
120 1.063 1000 961;
121 1.071 1000 969;
122 1.080 1000 977;
123 1.089 1000 985;
124 1.098 1000 992;
125 1.107 1000 1000;
126 1.116 1000 1007;
127 1.124 1000 1014;
128 1.133 1000 1021;
129 1.142 1000 1027;
130 1.151 1000 1033;
131 1.160 1000 1039;
132 1.169 1000 1045;
133 1.178 1000 1050;
134 1.186 1000 1055;
135 1.195 1000 1059;
136 1.204 1000 1063;
137 1.213 1000 1066;
138 1.222 1000 1069;
139 1.231 1000 1072;
140 1.240 1000 1074;
141 1.248 1000 1076;
142 1.257 1000 1077;
143 1.266 1000 1078;
144 1.275 1000 1079;
145 1.284 1000 1079;
146 1.293 1000 1079;
147 1.302 1000 1079;
148 1.310 1000 1078;
149 1.319 1000 1076;
150 1.328 1000 1074;
151 1.337 1000 1072;
152 1.346 1000 1070;
153 1.355 1000 1068;
154 1.364 1000 1065;
155 1.372 1000 1063;
156 1.381 1000 1061;
157 1.390 1000 1058;
158 1.399 1000 1056;
159 1.408 1000 1054;
160 1.417 1000 1052;
161 1.426 1000 1050;
162 1.434 1000 1048;
163 1.443 1000 1047;
164 1.452 1000 1046;
165 1.461 1000 1045;
166 1.470 1000 1044;
167 1.479 1000 1043;
168 1.488 1000 1043;
169 1.496 1000 1043;
170 1.505 1000 1042;
171 1.514 1000 1042;
172 1.523 1000 1042;
173 1.532 1000 1042;
174 1.541 1000 1044;
175 1.549 1000 1045;
176 1.558 1000 1046;
177 1.567 1000 1047;
178 1.576 1000 1048;
179 1.585 1000 1049;
180 1.594 1000 1051;
181 1.603 1000 1052;
182 1.611 1000 1052;
183 1.620 1000 1053;
184 1.629 1000 1054;
185 1.638 1000 1055;
186 1.647 1000 1055;
187 1.656 1000 1056;
188 1.665 1000 1056;
189 1.673 1000 1056;
190 1.682 1000 1056;
191 1.691 1000 1056;
192 1.700 1000 1056;
193 1.709 1000 1056;
194 1.718 1000 1056;
195 1.727 1000 1055;
196 1.735 1000 1055;
197 1.744 1000 1054;
198 1.753 1000 1053;
199 1.762 1000 1052;
200 1.771 1000 1052;
201 1.780 1000 1051;
202 1.789 1000 1050;
203 1.797 1000 1050;
204 1.806 1000 1050;
205 1.815 1000 1049;
206 1.824 1000 1049;
207 1.833 1000 1049;
208 1.842 1000 1049;
209 1.851 1000 1049;
210 1.859 1000 1049;
211 1.868 1000 1049;
212 1.877 1000 1049;
213 1.886 1000 1049;
214 1.895 1000 1051;
215 1.904 1000 1051;
216 1.913 1000 1051;
217 1.921 1000 1051;
218 1.930 1000 1052;
219 1.939 1000 1052;
220 1.948 1000 1052;
221 1.957 1000 1053;
222 1.966 1000 1053;
223 1.974 1000 1053;
224 1.983 1000 1053;
225 1.992 1000 1053;
226 2.001 1000 1053;
227 2.010 1000 1053;
228 2.019 1000 1053;
229 2.028 1000 1053;
230 2.036 1000 1053;
231 2.045 1000 1053;
232 2.054 1000 1053;
233 2.063 1000 1053;
234 2.072 1000 1053;
235 2.081 1000 1052;
236 2.090 1000 1052;
237 2.098 1000 1052;
238 2.107 1000 1052;
239 2.116 1000 1052;
240 2.125 1000 1052;
241 2.134 1000 1052;
242 2.143 1000 1052;
243 2.152 1000 1052;
244 2.160 1000 1052;
245 2.169 1000 1052;
246 2.178 1000 1052;
247 2.187 1000 1052;
248 2.196 1000 1052;
249 2.205 1000 1052;
250 2.214 1000 1052;
251 2.222 1000 1052;
252 2.231 1000 1052;
253 2.240 1000 1052;
254 2.249 1000 1052;
255 2.258 1000 1052;
256 2.267 1000 1052;
257 2.276 1000 1052;
258 2.284 1000 1052;
259 2.293 1000 1052;
260 2.302 1000 1052;
261 2.311 1000 1052;
262 2.320 1000 1052;
263 2.329 1000 1052;
264 2.338 1000 1052;
265 2.346 1000 1052;
266 2.355 1000 1052;
267 2.364 1000 1052;
268 2.373 1000 1052;
269 2.382 1000 1052;
270 2.391 1000 1052;
271 2.399 1000 1052;
272 2.408 1000 1052;
273 2.417 1000 1052;
274 2.426 1000 1052;
275 2.435 1000 1052;
276 2.444 1000 1052;
277 2.453 1000 1052;
278 2.461 1000 1052;
279 2.470 1000 1052;
280 2.479 1000 1052;
281 2.488 1000 1052;
282 2.497 1000 1052;
283 2.506 1000 1052;
284 2.515 1000 1052;
285 2.523 1000 1052;
286 2.532 1000 1052;
287 2.541 1000 1052;
288 2.550 1000 1052;
289 2.559 1000 1052;
290 2.568 1000 1052;
291 2.577 1000 1052;
292 2.585 1000 1052;
293 2.594 1000 1052;
294 2.603 1000 1052;
295 2.612 1000 1052;
296 2.621 1000 1052;
297 2.630 1000 1052;
298 2.639 1000 1052;
299 2.647 1000 1052;
300 2.656 1000 1052;
301 2.665 1000 1052;
302 2.674 1000 1052;
303 2.683 1000 1052;
304 2.692 1000 1052;
305 2.701 1000 1052;
306 2.709 1000 1052;
307 2.718 1000 1052;
308 2.727 1000 1052;
309 2.736 1000 1052;
310 2.745 1000 1052;
311 2.754 1000 1052;
312 2.763 1000 1052;
313 2.771 1000 1052;
314 2.780 1000 1052;
315 2.789 1000 1052;
316 2.798 1000 1052;
317 2.807 1000 1052;
318 2.816 1000 1052;
319 2.824 1000 1052;
320 2.833 1000 1052;
321 2.842 1000 1052;
322 2.851 1000 1052;
323 2.860 1000 1052;
324 2.869 1000 1052;
325 2.878 1000 1052;
326 2.886 1000 1052;
327 2.895 1000 1052;
328 2.904 1000 1052;
329 2.913 1000 1052;
330 2.922 1000 1052;
331 2.931 1000 1052;
332 2.940 1000 1052;
333 2.948 1000 1052;
334 2.957 1000 1052;
335 2.966 1000 1052;
336 2.975 1000 1052;
337 2.984 1000 1052;
338 2.993 1000 1052;
339 3.002 1000 1052;
340 3.010 1000 1052;
341 3.019 1000 1052;
342 3.028 1000 1052;
343 3.037 1000 1052;
344 3.046 1000 1052;
345 3.055 1000 1052;
346 3.064 1000 1052;
347 3.072 1000 1052;
348 3.081 1000 1052;
349 3.090 1000 1052;
350 3.099 1000 1052;
351 3.108 1000 1052;
352 3.117 1000 1052;
353 3.126 1000 1052;
354 3.134 1000 1052;
355 3.143 1000 1052;
356 3.152 1000 1052;
357 3.161 1000 1052;
358 3.170 1000 1052;
359 3.179 1000 1052;
360 3.188 1000 1052;
361 3.196 1000 1052;
362 3.205 1000 1052;
363 3.214 1000 1052;
364 3.223 1000 1052;
365 3.232 1000 1052;
366 3.241 1000 1052;
367 3.249 1000 1052;
368 3.258 1000 1052;
369 3.267 1000 1052;
370 3.276 1000 1052;
371 3.285 1000 1052;
372 3.294 1000 1052;
373 3.303 1000 1052;
374 3.311 1000 1052;
375 3.320 1000 1052;
376 3.329 1000 1052;
377 3.338 1000 1052;
378 3.347 1000 1052;
379 3.356 1000 1052;
380 3.365 1000 1052;
381 3.373 1000 1052;
382 3.382 1000 1052;
383 3.391 1000 1052;
384 3.400 1000 1052;
385 3.409 1000 1052;
386 3.418 1000 1052;
387 3.427 1000 1052;
388 3.435 1000 1052;
389 3.444 1000 1052;
390 3.453 1000 1052;
391 3.462 1000 1052;
392 3.471 1000 1052;
393 3.480 1000 1052;
394 3.489 1000 1052;
395 3.497 1000 1052;
396 3.506 1000 1052;
397 3.515 1000 1052;
398 3.524 1000 1052;
399 3.533 1000 1052;
400 3.542 1000 1052;
401 3.551 1000 1052;
402 3.559 1000 1052;
403 3.568 1000 1052;
404 3.577 1000 1052;
405 3.586 1000 1052;
406 3.595 1000 1052;
407 3.604 1000 1052;
408 3.613 1000 1052;
409 3.621 1000 1052;
410 3.630 1000 1052;
411 3.639 1000 1052;
412 3.648 1000 1052;
413 3.657 1000 1052;
414 3.666 1000 1052;
415 3.674 1000 1052;
416 3.683 1000 1052;
417 3.692 1000 1052;
418 3.701 1000 1052;
419 3.710 1000 1052;
420 3.719 1000 1052;
421 3.728 1000 1052;
422 3.736 1000 1052;
423 3.745 1000 1052;
424 3.754 1000 1052;
425 3.763 1000 1052;
426 3.772 1000 1052;
427 3.781 1000 1052;
428 3.790 1000 1052;
429 3.798 1000 1052;
430 3.807 1000 1052;
431 3.816 1000 1052;
432 3.825 1000 1052;
433 3.834 1000 1052;
434 3.843 1000 1052;
435 3.852 1000 1052;
436 3.860 1000 1052;
437 3.869 1000 1052;
438 3.878 1000 1052;
439 3.887 1000 1052;
440 3.896 1000 1052;
441 3.905 1000 1052;
442 3.914 1000 1052;
443 3.922 1000 1052;
444 3.931 1000 1052;
445 3.940 1000 1052;
446 3.949 1000 1052;
447 3.958 1000 1052;
448 3.967 1000 1052;
449 3.976 1000 1052;
450 3.984 1000 1052;
451 3.993 1000 1052;
452 4.002 0 1052;
453 4.011 0 1052;
454 4.020 0 1048;
455 4.029 0 1041;
456 4.038 0 1031;
457 4.046 0 1019;
458 4.055 0 1004;
459 4.064 0 986;
460 4.073 0 966;
461 4.082 0 944;
462 4.091 0 920;
463 4.099 0 894;
464 4.108 0 867;
465 4.117 0 838;
466 4.126 0 808;
467 4.135 0 776;
468 4.144 0 743;
469 4.153 0 708;
470 4.161 0 672;
471 4.170 0 635;
472 4.179 0 597;
473 4.188 0 558;
474 4.197 0 519;
475 4.206 0 480;
476 4.215 0 440;
477 4.223 0 400;
478 4.232 0 361;
479 4.241 0 321;
480 4.250 0 282;
481 4.259 0 244;
482 4.268 0 206;
483 4.277 0 169;
484 4.285 0 133;
485 4.294 0 98;
486 4.303 0 64;
487 4.312 0 32;
488 4.321 0 0;
489 4.330 0 -30;
490 4.339 0 -59;
491 4.347 0 -85;
492 4.356 0 -111;
493 4.365 0 -134;
494 4.374 0 -155;
495 4.383 0 -174;
496 4.392 0 -191;
497 4.401 0 -205;
498 4.409 0 -217;
499 4.418 0 -226;
500 4.427 0 -233;
501 4.436 0 -237;
502 4.445 0 -239;
503 4.454 0 -239;
504 4.463 0 -236;
505 4.471 0 -230;
506 4.480 0 -222;
507 4.489 0 -213;
508 4.498 0 -201;
509 4.507 0 -187;
510 4.516 0 -172;
511 4.524 0 -156;
512 4.533 0 -138;
513 4.542 0 -119;
514 4.551 0 -99;
515 4.560 0 -79;
516 4.569 0 -58;
517 4.578 0 -36;
518 4.586 0 -14;
519 4.595 0 8;
520 4.604 0 31;
521 4.613 0 53;
522 4.622 0 76;
523 4.631 0 98;
524 4.640 0 120;
525 4.648 0 142;
526 4.657 0 164;
527 4.666 0 186;
528 4.675 0 207;
529 4.684 0 228;
530 4.693 0 248;
531 4.702 0 267;
532 4.710 0 286;
533 4.719 0 304;
534 4.728 0 322;
535 4.737 0 339;
536 4.746 0 354;
537 4.755 0 369;
538 4.764 0 383;
539 4.772 0 396;
540 4.781 0 408;
541 4.790 0 419;
542 4.799 0 428;
543 4.808 0 437;
544 4.817 0 444;
545 4.826 0 450;
546 4.834 0 455;
547 4.843 0 459;
548 4.852 0 461;
549 4.861 0 463;
550 4.870 0 463;
551 4.879 0 463;
552 4.888 0 462;
553 4.896 0 458;
554 4.905 0 454;
555 4.914 0 449;
556 4.923 0 444;
557 4.932 0 437;
558 4.941 0 430;
559 4.949 0 423;
560 4.958 0 415;
561 4.967 0 406;
562 4.976 0 397;
563 4.985 0 388;
564 4.994 0 379;
565 5.003 0 369;
566 5.011 0 359;
567 5.020 0 349;
568 5.029 0 340;
569 5.038 0 330;
570 5.047 0 320;
571 5.056 0 310;
572 5.065 0 301;
573 5.073 0 292;
574 5.082 0 283;
575 5.091 0 274;
576 5.100 0 265;
577 5.109 0 257;
578 5.118 0 249;
579 5.127 0 241;
580 5.135 0 234;
581 5.144 0 228;
582 5.153 0 221;
583 5.162 0 215;
584 5.171 0 210;
585 5.180 0 205;
586 5.189 0 200;
587 5.197 0 197;
588 5.206 0 193;
589 5.215 0 191;
590 5.224 0 188;
591 5.233 0 187;
592 5.242 0 186;
593 5.251 0 185;
594 5.259 0 185;
595 5.268 0 185;
596 5.277 0 185;
597 5.286 0 187;
598 5.295 0 188;
599 5.304 0 191;
600 5.313 0 193;
601 5.321 0 196;
602 5.330 0 199;
603 5.339 0 202;
604 5.348 0 205;
605 5.357 0 208;
606 5.366 0 211;
607 5.374 0 214;
608 5.383 0 217;
609 5.392 0 220;
610 5.401 0 222;
611 5.410 0 225;
612 5.419 0 227;
613 5.428 0 229;
614 5.436 0 231;
615 5.445 0 232;
616 5.454 0 234;
617 5.463 0 235;
618 5.472 0 236;
619 5.481 0 236;
620 5.490 0 236;
621 5.498 0 237;
622 5.507 0 237;
623 5.516 0 237;
624 5.525 0 237;
625 5.534 0 236;
626 5.543 0 235;
627 5.552 0 234;
628 5.560 0 232;
629 5.569 0 231;
630 5.578 0 230;
631 5.587 0 229;
632 5.596 0 228;
633 5.605 0 227;
634 5.614 0 226;
635 5.622 0 225;
636 5.631 0 225;
637 5.640 0 224;
638 5.649 0 224;
639 5.658 0 224;
640 5.667 0 224;
641 5.676 0 224;
642 5.684 0 224;
643 5.693 0 224;
644 5.702 0 224;
645 5.711 0 224;
646 5.720 0 224;
647 5.729 0 226;
648 5.738 0 226;
649 5.746 0 227;
650 5.755 0 228;
651 5.764 0 228;
652 5.773 0 229;
653 5.782 0 229;
654 5.791 0 229;
655 5.799 0 230;
656 5.808 0 230;
657 5.817 0 230;
658 5.826 0 230;
659 5.835 0 230;
660 5.844 0 230;
661 5.853 0 230;
662 5.861 0 230;
663 5.870 0 230;
664 5.879 0 230;
665 5.888 0 229;
666 5.897 0 229;
667 5.906 0 229;
668 5.915 0 228;
669 5.923 0 228;
670 5.932 0 227;
671 5.941 0 227;
672 5.950 0 227;
673 5.959 0 227;
674 5.968 0 227;
675 5.977 0 227;
676 5.985 0 227;
677 5.994 0 227;
678 6.003 0 227;
679 6.012 0 227;
680 6.021 0 227;
681 6.030 0 227;
682 6.039 0 227;
683 6.047 0 227;
684 6.056 0 227;
685 6.065 0 227;
686 6.074 0 229;
687 6.083 0 229;
688 6.092 0 229;
689 6.101 0 229;
690 6.109 0 229;
691 6.118 0 229;
692 6.127 0 229;
693 6.136 0 229;
694 6.145 0 229;
695 6.154 0 229;
696 6.163 0 229;
697 6.171 0 229;
698 6.180 0 229;
699 6.189 0 229;
700 6.198 0 229;
701 6.207 0 229;
702 6.216 0 229;
703 6.224 0 228;
704 6.233 0 228;
705 6.242 0 228;
706 6.251 0 228;
707 6.260 0 228;
708 6.269 0 228;
709 6.278 0 228;
710 6.286 0 228;
711 6.295 0 228;
712 6.304 0 228;
713 6.313 0 228;
714 6.322 0 228;
715 6.331 0 228;
716 6.340 0 228;
717 6.348 0 228;
718 6.357 0 228;
719 6.366 0 228;
720 6.375 0 228;
721 6.384 0 228;
722 6.393 0 228;
723 6.402 0 228;
724 6.410 0 228;
725 6.419 0 228;
726 6.428 0 228;
727 6.437 0 228;
728 6.446 0 228;
729 6.455 0 228;
730 6.464 0 228;
731 6.472 0 228;
732 6.481 0 228;
733 6.490 0 228;
734 6.499 0 228;
735 6.508 0 228;
736 6.517 0 228;
737 6.526 0 228;
738 6.534 0 228;
739 6.543 0 228;
740 6.552 0 228;
741 6.561 0 228;
742 6.570 0 228;
743 6.579 0 228;
744 6.588 0 228;
745 6.596 0 228;
746 6.605 0 228;
747 6.614 0 228;
748 6.623 0 228;
749 6.632 0 228;
750 6.641 0 228;
751 6.649 0 228;
752 6.658 0 228;
753 6.667 0 228;
754 6.676 0 228;
755 6.685 0 228;
756 6.694 0 228;
757 6.703 0 228;
758 6.711 0 228;
759 6.720 0 228;
760 6.729 0 228;
761 6.738 0 228;
762 6.747 0 228;
763 6.756 0 228;
764 6.765 0 228;
765 6.773 0 228;
766 6.782 0 228;
767 6.791 0 228;
768 6.800 0 228;
769 6.809 0 228;
770 6.818 0 228;
771 6.827 0 228;
772 6.835 0 228;
773 6.844 0 228;
774 6.853 0 228;
775 6.862 0 228;
776 6.871 0 228;
777 6.880 0 228;
778 6.889 0 228;
779 6.897 0 228;
780 6.906 0 228;
781 6.915 0 228;
782 6.924 0 228;
783 6.933 0 228;
784 6.942 0 228;
785 6.951 0 228;
786 6.959 0 228;
787 6.968 0 228;
788 6.977 0 228;
789 6.986 0 228;
790 6.995 0 228;
791 7.004 0 228;
792 7.013 0 228;
793 7.021 0 228;
794 7.030 0 228;
795 7.039 0 228;
796 7.048 0 228;
797 7.057 0 228;
798 7.066 0 228;
799 7.074 0 228;
800 7.083 0 228;
801 7.092 0 228;
802 7.101 0 228;
803 7.110 0 228;
804 7.119 0 228;
805 7.128 0 228;
806 7.136 0 228;
807 7.145 0 228;
808 7.154 0 228;
809 7.163 0 228;
810 7.172 0 228;
811 7.181 0 228;
812 7.190 0 228;
813 7.198 0 228;
814 7.207 0 228;
815 7.216 0 228;
816 7.225 0 228;
817 7.234 0 228;
818 7.243 0 228;
819 7.252 0 228;
820 7.260 0 228;
821 7.269 0 228;
822 7.278 0 228;
823 7.287 0 228;
824 7.296 0 228;
825 7.305 0 228;
826 7.314 0 228;
827 7.322 0 228;
828 7.331 0 228;
829 7.340 0 228;
830 7.349 0 228;
831 7.358 0 228;
832 7.367 0 228;
833 7.376 0 228;
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