diff --git a/Files_4_thesis/Different_angle/docking_different_angle.asv b/Files_4_thesis/Different_angle/docking_different_angle.asv
deleted file mode 100644
index fe134c9fd6b44e03472b47cb21f69ab05d9d5123..0000000000000000000000000000000000000000
--- a/Files_4_thesis/Different_angle/docking_different_angle.asv
+++ /dev/null
@@ -1,487 +0,0 @@
-clc;
-close all;
-clear all;
-%% Import data and time conversion
-
-% data 1: 556 ros messages for geometry_msgs/Twist 
-%         557 ros messages for geometry_msgs/PoseStamped
-% y-axis gains:
-% (010816_1718) best!!!
-% P = .4; I = 0; D = 0; 
-
-% y-axis gains:
-% (280716_2024) better!!!
-% P = .44; I = 0; D = 0; 
-
-% theta-axis gains:
-% P = .08; I = 0; D = 0;
-
-% y-axis gains:
-% (280716_2002)
-% P = .46; I = 0; D = 0; 
-
-% theta-axis gains:
-% P = .08; I = 0; D = 0;
-
-Pose_Matrix_data_1 = csvread('Pose_negative_angle.txt',1,0);
-Vel_Matrix_data_1 = csvread('Velocity_negative_angle.txt',1,0);
-
-% time in position
-TimeP_ros_data_1 = Pose_Matrix_data_1(:,1); % ros time, needs to be converted to sec...
-
-% duriation =         end_time        -     start_time
-  durationP_data_1 = (TimeP_ros_data_1(size(TimeP_ros_data_1,1),:) - TimeP_ros_data_1(1,:))*10^(-9); 
-  
-t_P_sec_data_1 = 0:durationP_data_1/size(TimeP_ros_data_1,1):durationP_data_1;
-t_P_sec_data_1(:,size(t_P_sec_data_1,2)) = [];
-
-% time in vel
-TimeV_ros_data_1 = Vel_Matrix_data_1(:,1); % ros time, needs to be converted to sec...
-
-% duriation =         end_time        -     start_time
-  durationV_data_1 = (TimeV_ros_data_1(size(TimeV_ros_data_1,1),:) - TimeV_ros_data_1(1,:))*10^(-9);
-
-t_V_sec_data_1 = 0:durationV_data_1/size(TimeV_ros_data_1,1):durationV_data_1;
-t_V_sec_data_1(:,size(t_V_sec_data_1,2)) = [];
-
-% -----------------------------------------------------------------------------------------------------
-% data 2: 588 ros messages for geometry_msgs/Twist 
-%         589 ros messages for geometry_msgs/PoseStamped
-% y-axis gains:
-% P = .5; I = 0.001; D = 0.03;
-
-% theta-axis gains:
-% P = .28; I = 0.1; D = 0.15;
-
-Pose_Matrix_data_2 = csvread('Pose_zero_angle.txt',1,0);
-Vel_Matrix_data_2 = csvread('Velocity_zero_angle.txt',1,0);
-
-
-% time in position
-TimeP_ros_data_2 = Pose_Matrix_data_2(:,1); % ros time, needs to be converted to sec...
-
-% duriation =         end_time        -     start_time
-  durationP_data_2 = (TimeP_ros_data_2(size(TimeP_ros_data_2,1),:) - TimeP_ros_data_2(1,:))*10^(-9); 
-  
-t_P_sec_data_2 = 0:durationP_data_2/size(TimeP_ros_data_2,1):durationP_data_2;
-t_P_sec_data_2(:,size(t_P_sec_data_2,2)) = [];
-
-% time in vel
-TimeV_ros_data_2 = Vel_Matrix_data_2(:,1); % ros time, needs to be converted to sec...
-
-% duriation =         end_time        -     start_time
-  durationV_data_2 = (TimeV_ros_data_2(size(TimeV_ros_data_2,1),:) - TimeV_ros_data_2(1,:))*10^(-9);
-
-t_V_sec_data_2 = 0:durationV_data_2/size(TimeV_ros_data_2,1):durationV_data_2;
-t_V_sec_data_2(:,size(t_V_sec_data_2,2)) = [];
-
-% -----------------------------------------------------------------------------------------------------
-% data 3: 538 ros messages for geometry_msgs/Twist 
-%         539 ros messages for geometry_msgs/PoseStamped
-% y-axis gains:
-% P = .44; I = .0005; D = 0.15;
-
-% theta-axis gains:
-% P = .08; I = 0; D = 0;
-
-Pose_Matrix_data_3 = csvread('Pose_positive_angle.txt',1,0);
-Vel_Matrix_data_3 = csvread('Velocity_positive_angle.txt',1,0);
-
-% time in position
-TimeP_ros_data_3 = Pose_Matrix_data_3(:,1); % ros time, needs to be converted to sec...
-
-% duriation =         end_time        -     start_time
-  durationP_data_3 = (TimeP_ros_data_3(size(TimeP_ros_data_3,1),:) - TimeP_ros_data_3(1,:))*10^(-9); 
-  
-t_P_sec_data_3 = 0:durationP_data_3/size(TimeP_ros_data_3,1):durationP_data_3;
-t_P_sec_data_3(:,size(t_P_sec_data_3,2)) = [];
-
-% time in vel
-TimeV_ros_data_3 = Vel_Matrix_data_3(:,1); % ros time, needs to be converted to sec...
-
-% duriation =         end_time        -     start_time
-  durationV_data_3 = (TimeV_ros_data_3(size(TimeV_ros_data_3,1),:) - TimeV_ros_data_3(1,:))*10^(-9);
-
-t_V_sec_data_3 = 0:durationV_data_3/size(TimeV_ros_data_3,1):durationV_data_3;
-t_V_sec_data_3(:,size(t_V_sec_data_3,2)) = [];
-
-
-%% Pose estimation
-
-%data 1:
-% when using marker pose ,,,,
-Pose_X_data_1 = Pose_Matrix_data_1(:,4);
-Pose_Y_data_1 = Pose_Matrix_data_1(:,3);
-Theta_data_1 = Pose_Matrix_data_1(:,5);
-
-
-% when using robot odometry ,,,,
-% Pose_X = Pose_Matrix(:,2);
-% Pose_Y = Pose_Matrix(:,3);
-% Theta = Pose_Matrix(:,7);
-
-% Extracting reference values when the robot is manually docked!
-ref_X_data_1 = Pose_X_data_1(size(Pose_X_data_1,1));
-ref_Y_data_1 = Pose_Y_data_1(size(Pose_Y_data_1,1));
-ref_Theta_data_1 = Theta_data_1(size(Theta_data_1,1));
-ref_Pose_data_1 =[ref_X_data_1;ref_Y_data_1];
-
-%data 2:
-% when using marker pose ,,,,
-Pose_X_data_2 = Pose_Matrix_data_2(:,4);
-Pose_Y_data_2 = Pose_Matrix_data_2(:,3);
-Theta_data_2 = Pose_Matrix_data_2(:,5);
-
-% when using robot odometry ,,,,
-% Pose_X = Pose_Matrix(:,2);
-% Pose_Y = Pose_Matrix(:,3);
-% Theta = Pose_Matrix(:,7);
-
-% Extracting reference values when the robot is manually docked!
-ref_X_data_2 = Pose_X_data_2(size(Pose_X_data_2,1));
-ref_Y_data_2 = Pose_Y_data_2(size(Pose_Y_data_2,1));
-ref_Theta_data_2 = Theta_data_2(size(Theta_data_2,1));
-ref_Pose_data_2 =[ref_X_data_2;ref_Y_data_2];
-
-%data 3:
-% when using marker pose ,,,,
-Pose_X_data_3 = Pose_Matrix_data_3(:,4);
-Pose_Y_data_3 = Pose_Matrix_data_3(:,3);
-Theta_data_3 = Pose_Matrix_data_3(:,5);
-
-% when using robot odometry ,,,,
-% Pose_X = Pose_Matrix(:,2);
-% Pose_Y = Pose_Matrix(:,3);
-% Theta = Pose_Matrix(:,7);
-
-% Extracting reference values when the robot is manually docked!
-ref_X_data_3 = Pose_X_data_3(size(Pose_X_data_3,1));
-ref_Y_data_3 = Pose_Y_data_3(size(Pose_Y_data_3,1));
-ref_Theta_data_3 = Theta_data_3(size(Theta_data_3,1));
-ref_Pose_data_3 =[ref_X_data_3;ref_Y_data_3];
-
-% Reference Circle 
-thresh_X = .001;
-theta = 0:.001:2*pi;
-% needs to be adjusted manually if docking platform is replaced!
-ref_x = .20095;
-ref_y = .0081;
-x_circle = thresh_X*cos(theta) + ref_x; % ref_X needs to be recorded
-y_circle = thresh_X*sin(theta) + ref_y; % ref_Y needs to be recorded
-
-
-%% Velocity estimation
-
-% data 1:
-Vel_X_data_1 = Vel_Matrix_data_1(:,2);
-Vel_Y_data_1 = Vel_Matrix_data_1(:,3);
-Omega_Z_data_1 = Vel_Matrix_data_1(:,7);
-
-% data 2:
-Vel_X_data_2 = Vel_Matrix_data_2(:,2);
-Vel_Y_data_2 = Vel_Matrix_data_2(:,3);
-Omega_Z_data_2 = Vel_Matrix_data_2(:,7);
-
-% data 3:
-Vel_X_data_3 = Vel_Matrix_data_3(:,2);
-Vel_Y_data_3 = Vel_Matrix_data_3(:,3);
-Omega_Z_data_3 = Vel_Matrix_data_3(:,7);
-
-%% Plots
-
-% for the presenation all pose estimation(x,y,theta) in one plot
-
-% figure;
-% plot(t_P_sec,Pose_X,'b',t_P_sec,Pose_Y,'r',t_P_sec,Theta,'g');
-% 
-% title('Marker Pose');
-% xlabel('Time [sec]');
-% ylabel('Pose');
-% legend('X [m]','Y [m]','\theta [rad]');
-% grid on
-
-% marker position
-figure;
-subplot(3,1,1);
-plot(t_P_sec_data_1,Pose_X_data_1,'LineWidth',3);
-hold on
-plot(t_P_sec_data_2,Pose_X_data_2,'r','LineWidth',1.7);
-hold on
-plot(t_P_sec_data_3,Pose_X_data_3,'g','LineWidth',2.3);
-
-title('Marker Pose Along X_{mar} - Axis');
-% set(t,'interpreter','latex');
-% xlabel('$ time [sec]$','interpreter','latex');
-ylabel('${X_{mar}}$ [m]','interpreter','latex','FontSize',12);
-grid on
-% axis([0 45 -.01 .2]);
-l2 = legend('${P_y = 0.86, I_y = 0, D_y = 0.002}$', '${P_y = 0.66, I_y = 0, D_y = 0.1}$','${P_y = 0.86, I_y = 0, D_y = 0.1}$','${P_y = 0.51, I_y = 0.0005, D_y = 0.05}$');
-set(l2,'interpreter','latex','FontSize',11);
-
-subplot(3,1,2);
-plot(t_P_sec_data_1,Pose_Y_data_1,'LineWidth',3);
-hold on
-plot(t_P_sec_data_2,Pose_Y_data_2,'r','LineWidth',1.7);
-hold on
-plot(t_P_sec_data_3,Pose_Y_data_3,'g','LineWidth',2.3);
-
-title('Marker Pose Along Y_{mar} - Axis');
-% xlabel('$ time [sec]$','interpreter','latex');
-ylabel('${Y_{mar}}$ [m]','interpreter','latex','FontSize',12);
-grid on
-% axis([0 46 -.2 .1]);
-
-subplot(3,1,3);
-plot(t_P_sec_data_1,Theta_data_1,'LineWidth',3);
-hold on
-plot(t_P_sec_data_2,Theta_data_2,'r','LineWidth',1.7);
-hold on
-plot(t_P_sec_data_3,Theta_data_3,'g','LineWidth',2.3);
-
-title('Marker Pose Along \theta_{mar} - Axis');
-xlabel('$ time [sec]$','interpreter','latex','FontSize',12);
-ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',12);
-grid on
-% axis([0 46 -.1 .15]);
-
-% control signals
-figure;
-subplot(3,1,1);
-
-plot(t_V_sec_data_1,Vel_X_data_1,'LineWidth',3);
-hold on
-plot(t_V_sec_data_2,Vel_X_data_2,'r','LineWidth',1.7);
-hold on
-plot(t_V_sec_data_3,Vel_X_data_3,'g','LineWidth',2.3);
-
-title('Control Signal Along X_{rob} - Axis');
-% xlabel('$ time [sec]$','interpreter','latex');
-ylabel('$\dot{X_{rob}}$ [m/s]','interpreter','latex','FontSize',12);
-grid on
-axis([0 45 -.01 .2]);
-l2 = legend('${P_y = 0.86, I_y = 0, D_y = 0.002}$', '${P_y = 0.66, I_y = 0, D_y = 0.1}$','${P_y = 0.86, I_y = 0, D_y = 0.1}$','${P_y = 0.51, I_y = 0.0005, D_y = 0.05}$');
-set(l2,'interpreter','latex','FontSize',11);
-
-
-subplot(3,1,2);
-plot(t_V_sec_data_1,Vel_Y_data_1,'LineWidth',3);
-hold on
-plot(t_V_sec_data_2,Vel_Y_data_2,'r','LineWidth',1.7);
-hold on
-plot(t_V_sec_data_3,Vel_Y_data_3,'g','LineWidth',2.3);
-
-
-title('Control Signal Along Y_{rob} - Axis');
-% xlabel('$ time [sec]$','interpreter','latex');
-ylabel('$\dot{Y_{rob}}$ [m/s]','interpreter','latex','FontSize',12);
-grid on
-% axis([0 46 -.2 .1]);
-
-subplot(3,1,3);
-plot(t_V_sec_data_1,Omega_Z_data_1,'LineWidth',3);
-hold on
-plot(t_V_sec_data_2,Omega_Z_data_2,'r','LineWidth',1.7);
-hold on
-plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',2.3);
-
-title('Control Signal Along \theta_{rob} - Axis');
-xlabel('$ time [sec]$','interpreter','latex','FontSize',12);
-ylabel('$\dot{\theta_{rob}}$ [rad/s]','interpreter','latex','FontSize',12);
-grid on
-% axis([0 46 -.1 .15]);
-
-
-
-% Trajectory 
-
-
-% figure;
-% plot(Pose_Y_data_1,Pose_X_data_1,'b',ref_Y_data_1,ref_X_data_1,'k*');
-% hold on
-% plot(Pose_Y_data_2,Pose_X_data_2,'r',ref_Y_data_2,ref_X_data_2,'k*');
-% 
-% hold on
-% plot(Pose_Y_data_3,Pose_X_data_3,'g',ref_Y_data_3,ref_X_data_3,'k*');
-% 
-
-% 
-% for k = Pose_X_data_1(1):Pose_X_data_1(size(Pose_X_data_1,1))
-%     x_arrow(k) = 
-%     
-% end
-% 
-% x_arrow = linspace(Pose_X_data_1(1),Pose_X_data_1(size(Pose_X_data_1,1)),150);
-% y_arrow = linspace(Pose_Y_data_1(1),Pose_Y_data_1(size(Pose_Y_data_1,1)),150);
-% 
-% Vx = gradient(x_arrow,.01);
-% Vy = gradient(y_arrow,.01);
-% 
-% figure;
-% plot(y_arrow,x_arrow,'b--','LineWidth',.5);
-% % hold on
-% % quiver(y_arrow,x_arrow,Vy,Vx,'r--','LineWidth',1.5);
-% 
-figure;
-subplot(1,3,1);
-plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
-hold on
-plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
-hold on
-plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
-hold on
-plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
-hold on
-plot(y_circle,x_circle,'k--','LineWidth',3.4);
-
-title('Entire Area');
-xlabel('${Y}$ [m]','interpreter','latex','FontSize',11);
-ylabel('${X}$ [m]','interpreter','latex','FontSize',11);
-axis([-.1 .4 .18 1.4]);
-grid on
-
-subplot(1,3,2);
-plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',1.6);
-hold on
-plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',1.6);
-hold on
-plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',1.6);
-hold on
-plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',1.6);
-hold on
-plot(y_circle,x_circle,'k--','LineWidth',3.4);
-
-title('SM zone');
-xlabel('${Y}$ [m]','interpreter','latex','FontSize',11);
-% ylabel('${X}$ [m]','interpreter','latex','FontSize',11);
-axis([-.005 0.045 .195 .32]);
-grid on
-
-subplot(1,3,3);
-plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
-hold on
-plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
-hold on
-plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
-hold on
-plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
-hold on
-plot(y_circle,x_circle,'k--','LineWidth',3.4);
-
-title('Target');
-xlabel('${Y}$ [m]','interpreter','latex','FontSize',11);
-% ylabel('${X}$ [m]','interpreter','latex','FontSize',11);
-axis([0.0065 .0095 .1995 .2055]);
-grid on
-l = legend('${P_y = 0.86, I_y = 0, D_y = 0.002}$', '${P_y = 0.66, I_y = 0, D_y = 0.1}$','${P_y = 0.86, I_y = 0, D_y = 0.1}$','${P_y = 0.51, I_y = 0.0005, D_y = 0.05}$' ,'Target');
-set(l,'interpreter','latex','FontSize',11);
-
-
-% sampling time
-figure;
-subplot(2,2,1);
-plot(diff(TimeP_ros_data_3)/1e9,'r','LineWidth',1.4)
-hold on
-plot (diff(t_P_sec_data_3),'k--','LineWidth',1.8);
-% hold on
-title({'USB Camera';'Position'});
-ylabel('Sampling time [sec]','interpreter','latex','FontSize',11);
-axis([0 450 .068 .11]);
-l3 = legend('${Time_{ROS}}$','${Time_{Real}} [sec]$','Orientation','horizontal');
-set(l3,'interpreter','latex','FontSize',13);
-
-subplot(2,2,2);
-plot(diff(TimeP_ros_data_5)/1e9,'g','LineWidth',1.4)
-hold on;
-plot (diff(t_P_sec_data_5),'b--','LineWidth',1.8);
-
-title({'Android Camera';'Position'});
-% ylabel('Sampling time [sec]','interpreter','latex','FontSize',11);
-axis([0 234 .068 .3]);
-l4 = legend('${Time_{ROS}}$','${Time_{Real}} [sec]$','Orientation','horizontal');
-set(l4,'interpreter','latex','FontSize',13);
-
-subplot(2,2,3);
-plot(diff(TimeV_ros_data_3)/1e9,'r','LineWidth',1.4);
-hold on;
-plot (diff(t_V_sec_data_3),'k--','LineWidth',1.8);
-% hold on;
-title('Velocity');
-xlabel('samples','interpreter','latex','FontSize',13);
-ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
-axis([0 450 .068 .11]);
-
-subplot(2,2,4);
-plot(diff(TimeV_ros_data_5)/1e9,'g','LineWidth',1.4);
-hold on;
-plot (diff(t_V_sec_data_5),'b--','LineWidth',1.8);
-
-title('Velocity');
-xlabel('samples','interpreter','latex','FontSize',13);
-% ylabel('Sampling time [sec]','interpreter','latex','FontSize',11);
-axis([0 234 .068 .3]);
-
-
-
-figure;
-subplot(2,1,1);
-pa1 = plot(diff(TimeP_ros_data_3)/1e9,'r','LineWidth',2.1);
-hold on
-pa2 = plot (diff(t_P_sec_data_3),'k--','LineWidth',1.5);
-hold on
-pa3 = plot(diff(TimeP_ros_data_5)/1e9,'g','LineWidth',1.4);
-hold on;
-pa4 = plot (diff(t_P_sec_data_5),'b--','LineWidth',1.8);
-hold off;
-axis([0 234 0 .3]);
-title('Position');
-ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
-
-l5 = legend([pa1 pa2],'$USB Camera {Time_{ROS}}$','$ USB Camera {Time_{Real}} [sec]$','Orientation','horizontal');
-set(l5,'interpreter','latex','FontSize',12);
-% legend('boxoff');
-
-
-
-subplot(2,1,2);
-p1 = plot(diff(TimeV_ros_data_3)/1e9,'r','LineWidth',2.1);
-hold on;
-p2 = plot (diff(t_V_sec_data_3),'k--','LineWidth',1.5);
-hold on;
-p3 = plot(diff(TimeV_ros_data_5)/1e9,'g','LineWidth',1.4);
-hold on;
-p4 = plot (diff(t_V_sec_data_5),'b--','LineWidth',1.8);
-hold off;
-axis([0 234 0 .3]);
-title('Velocity');
-ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
-xlabel('Sample','interpreter','latex','FontSize',13);
-
-l6 = legend([p3 p4],'$ Android Camera {Time_{ROS}}$','$ Android Camera {Time_{Real}} [sec]$','Orientation','horizontal');
-set(l6,'interpreter','latex','FontSize',12);
-
-MaxOvershoot_1 = -ref_y + min(Pose_Y_data_1)
-MaxOvershoot_2 = -ref_y + min(Pose_Y_data_2)
-MaxOvershoot_3 = -ref_y + min(Pose_Y_data_3)
-MaxOvershoot_4 = -ref_y + min(Pose_Y_data_4)
-% Pose diff 
-% figure;
-% subplot(3,1,1);
-% plot(diff(Pose_X_data_1));
-% title('X-Pose diff');
-% xlabel('samples');
-% ylabel('X difference [m]');
-% grid on
-% 
-% subplot(3,1,2);
-% plot(diff(Pose_X_data_1));
-% title('Y-Pose diff');
-% xlabel('samples');
-% ylabel('Y difference [m]');
-% grid on
-% 
-% subplot(3,1,3);
-% plot(diff(Theta_data_1));
-% title('\theta-Pose diff');
-% xlabel('samples');
-% ylabel('\theta difference [rad]');
-% grid on
\ No newline at end of file
diff --git a/Files_4_thesis/Report.docx b/Files_4_thesis/Report.docx
index d372bf4c4a1d69e8caceae672f2fd105a0b3d1f0..55ee983cea7af180ee424ee1fd77b1d7f21d1491 100644
Binary files a/Files_4_thesis/Report.docx and b/Files_4_thesis/Report.docx differ