diff --git a/Files_4_thesis/Different_controllers/CAM_PID_.28_.0001_.01.txt b/Files_4_thesis/Different_controllers/CAM_PID_.28_.0001_.01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..790bb01c7970fe928aba0f38f88a5fee0e357a1a
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/CAM_PID_.28_.0001_.01.txt
@@ -0,0 +1,288 @@
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diff --git a/Files_4_thesis/Different_controllers/CAM_PID_.29_.00026_.015.txt b/Files_4_thesis/Different_controllers/CAM_PID_.29_.00026_.015.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d92737f4008b1b160308c1a1354f4ba45bbabc28
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/CAM_PID_.29_.00026_.015.txt
@@ -0,0 +1,301 @@
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diff --git a/Files_4_thesis/Different_controllers/CAM_PID_.31_.00065_.071.txt b/Files_4_thesis/Different_controllers/CAM_PID_.31_.00065_.071.txt
index dfc6b7bdbea597dc3fcbb90f9924baa9a1713368..2a3e9d860f8f8b9f713c85d4ac7c9e5adcd0be53 100644
--- a/Files_4_thesis/Different_controllers/CAM_PID_.31_.00065_.071.txt
+++ b/Files_4_thesis/Different_controllers/CAM_PID_.31_.00065_.071.txt
@@ -1,330 +1,968 @@
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diff --git a/Files_4_thesis/Different_controllers/CAM_PID_.38_.0001_.02.txt b/Files_4_thesis/Different_controllers/CAM_PID_.38_.0001_.02.txt
index 1ba09bb7db33f54123b2eb59021605cc624eb4d2..ae31148c2da036919761f18c2b88a1a57a258e6b 100644
--- a/Files_4_thesis/Different_controllers/CAM_PID_.38_.0001_.02.txt
+++ b/Files_4_thesis/Different_controllers/CAM_PID_.38_.0001_.02.txt
@@ -1,343 +1,299 @@
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diff --git a/Files_4_thesis/Different_controllers/CAM_PID_.38_0_.02.txt b/Files_4_thesis/Different_controllers/CAM_PID_.38_0_.02.txt
index ff43b5bdceecfe1ad10b8747356eae83b328e6c8..61a89f568a9214f283a3dc5307374ee99c879259 100644
--- a/Files_4_thesis/Different_controllers/CAM_PID_.38_0_.02.txt
+++ b/Files_4_thesis/Different_controllers/CAM_PID_.38_0_.02.txt
@@ -1,329 +1,359 @@
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diff --git a/Files_4_thesis/Different_controllers/CAM_PID_.39_.0005_.01.txt b/Files_4_thesis/Different_controllers/CAM_PID_.39_.0005_.01.txt
index 4caf223f5ce88d13b95d5967f3494b863a392681..6154a28c14a4830c9720019afc4385544e3300d7 100644
--- a/Files_4_thesis/Different_controllers/CAM_PID_.39_.0005_.01.txt
+++ b/Files_4_thesis/Different_controllers/CAM_PID_.39_.0005_.01.txt
@@ -1,346 +1,306 @@
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diff --git a/Files_4_thesis/Different_controllers/CAM_PID_.3_.0004_.02.txt b/Files_4_thesis/Different_controllers/CAM_PID_.3_.0004_.02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..53eba4e8dad1afb69d869efadbf4e46deef09746
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/CAM_PID_.3_.0004_.02.txt
@@ -0,0 +1,309 @@
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diff --git a/Files_4_thesis/Different_controllers/Odometry_Exp.m b/Files_4_thesis/Different_controllers/Odometry_Exp.m
deleted file mode 100644
index e7dc99d4ded75d3dbc3a6eb3dc7ccdf4ba36e41d..0000000000000000000000000000000000000000
--- a/Files_4_thesis/Different_controllers/Odometry_Exp.m
+++ /dev/null
@@ -1,28 +0,0 @@
-clc;
-close all;
-clear all;
-%% Import data and time conversion
-
-% data 1: 
-odom_Matrix_data_1 = csvread('odom_PID_.39_.0005_.01.txt',1,0);
-
-
-% time in position
-TimeP_ros_data_1 = odom_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)) = [];
-
-
-%% Pose estimation
-
-%data 1:
-odom_X_data_1 = odom_Matrix_data_1(:,2);
-odom_Y_data_1 = odom_Matrix_data_1(:,3);
-
-figure;
-plot(odom_Y_data_1,odom_X_data_1);
\ No newline at end of file
diff --git a/Files_4_thesis/Different_controllers/docking_with_PID_controller.asv b/Files_4_thesis/Different_controllers/docking_with_PID_controller.asv
new file mode 100644
index 0000000000000000000000000000000000000000..c837532b47c9c5d9a32e46948bb77dc675e34a5a
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/docking_with_PID_controller.asv
@@ -0,0 +1,603 @@
+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_with_Py0.86_Iy0_Dy0.002ANDPt0.08_It0_Dt0.txt',1,0);
+% Vel_Matrix_data_1 = csvread('VEL_with_Py0.86_Iy0_Dy0.002ANDPt0.08_It0_Dt0.txt',1,0);
+Pose_Matrix_data_1 = csvread('CAM_PID_.31_.00065_.071.txt',1,0);
+Vel_Matrix_data_1 = csvread('vel_PID_.31_.00065_.071.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_with_Py0.66_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
+% Vel_Matrix_data_2 = csvread('VEL_with_Py0.66_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
+% 
+Pose_Matrix_data_2 = csvread('CAM_PID_.38_.0001_.02.txt',1,0);
+Vel_Matrix_data_2 = csvread('vel_PID_.38_.0001_.02.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_with_Py0.86_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
+% Vel_Matrix_data_3 = csvread('VEL_with_Py0.86_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
+
+Pose_Matrix_data_3 = csvread('CAM_PID_.38_0_.02.txt',1,0);
+Vel_Matrix_data_3 = csvread('vel_PID_.38_0_.02.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)) = [];
+
+% -----------------------------------------------------------------------------------------------------
+% data 4: 450 ros messages for geometry_msgs/Twist 
+%         451 ros messages for geometry_msgs/PoseStamped
+% y-axis gains:
+% P = .86; I = 0; D = 0.002;
+
+% theta-axis gains:
+% P = .08; I = 0; D = 0;
+% 
+% Pose_Matrix_data_4 = csvread('POSE_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt',1,0);
+% Vel_Matrix_data_4 = csvread('VEL_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt',1,0);
+
+Pose_Matrix_data_4 = csvread('CAM_PID_.39_.0005_.01.txt',1,0);
+Vel_Matrix_data_4 = csvread('vel_PID_.39_.0005_.01.txt',1,0);
+
+% time in position
+TimeP_ros_data_4 = Pose_Matrix_data_4(:,1); % ros time, needs to be converted to sec...
+
+% duriation =         end_time        -     start_time
+  durationP_data_4 = (TimeP_ros_data_4(size(TimeP_ros_data_4,1),:) - TimeP_ros_data_4(1,:))*10^(-9); 
+  
+t_P_sec_data_4 = 0:durationP_data_4/size(TimeP_ros_data_4,1):durationP_data_4;
+t_P_sec_data_4(:,size(t_P_sec_data_4,2)) = [];
+
+% time in vel
+TimeV_ros_data_4 = Vel_Matrix_data_4(:,1); % ros time, needs to be converted to sec...
+
+% duriation =         end_time        -     start_time
+  durationV_data_4 = (TimeV_ros_data_4(size(TimeV_ros_data_4,1),:) - TimeV_ros_data_4(1,:))*10^(-9);
+
+t_V_sec_data_4 = 0:durationV_data_4/size(TimeV_ros_data_4,1):durationV_data_4;
+t_V_sec_data_4(:,size(t_V_sec_data_4,2)) = [];
+
+% -----------------------------------------------------------------------------------------------------
+% data 5: 450 ros messages for geometry_msgs/Twist 
+%         451 ros messages for geometry_msgs/PoseStamped
+% y-axis gains:
+% P = .86; I = 0; D = 0.1;
+
+% theta-axis gains:
+% P = .08; I = 0; D = 0;
+
+Pose_Matrix_data_5 = csvread('Pose_with_Android.txt',1,0);
+Vel_Matrix_data_5 = csvread('Velocity_with_Android.txt',1,0);
+
+% time in position
+TimeP_ros_data_5 = Pose_Matrix_data_5(:,1); % ros time, needs to be converted to sec...
+
+% duriation =         end_time        -     start_time
+  durationP_data_5 = (TimeP_ros_data_5(size(TimeP_ros_data_5,1),:) - TimeP_ros_data_5(1,:))*10^(-9); 
+  
+t_P_sec_data_5 = 0:durationP_data_5/size(TimeP_ros_data_5,1):durationP_data_5;
+t_P_sec_data_5(:,size(t_P_sec_data_5,2)) = [];
+
+% time in vel
+TimeV_ros_data_5 = Vel_Matrix_data_5(:,1); % ros time, needs to be converted to sec...
+
+% duriation =         end_time        -     start_time
+  durationV_data_5 = (TimeV_ros_data_5(size(TimeV_ros_data_5,1),:) - TimeV_ros_data_5(1,:))*10^(-9);
+
+t_V_sec_data_5 = 0:durationV_data_5/size(TimeV_ros_data_5,1):durationV_data_5;
+t_V_sec_data_5(:,size(t_V_sec_data_5,2)) = [];
+
+%% 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(:,7);
+
+
+% 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(:,7);
+
+% 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(:,7);
+
+% 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];
+
+%data 4:
+% when using marker pose ,,,,
+Pose_X_data_4 = Pose_Matrix_data_4(:,4);
+Pose_Y_data_4 = Pose_Matrix_data_4(:,3);
+Theta_data_4 = Pose_Matrix_data_4(:,7);
+
+
+% Extracting reference values when the robot is manually docked!
+ref_X_data_4 = Pose_X_data_4(size(Pose_X_data_4,1));
+ref_Y_data_4 = Pose_Y_data_4(size(Pose_Y_data_4,1));
+ref_Theta_data_4 = Theta_data_4(size(Theta_data_4,1));
+ref_Pose_data_4 =[ref_X_data_4;ref_Y_data_4];
+
+
+%data 5:
+% when using marker pose ,,,,
+Pose_X_data_5 = Pose_Matrix_data_5(:,4);
+Pose_Y_data_5 = Pose_Matrix_data_5(:,3);
+Theta_data_5 = Pose_Matrix_data_5(:,7);
+
+% Extracting reference values when the robot is manually docked!
+ref_X_data_5 = Pose_X_data_5(size(Pose_X_data_5,1));
+ref_Y_data_5 = Pose_Y_data_5(size(Pose_Y_data_5,1));
+ref_Theta_data_5 = Theta_data_5(size(Theta_data_5,1));
+ref_Pose_data_5 =[ref_X_data_5;ref_Y_data_5];
+
+
+% 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);
+
+% data 4:
+Vel_X_data_4 = Vel_Matrix_data_4(:,2);
+Vel_Y_data_4 = Vel_Matrix_data_4(:,3);
+Omega_Z_data_4 = Vel_Matrix_data_4(:,7);
+
+% data 5:
+Vel_X_data_5 = Vel_Matrix_data_5(:,2);
+Vel_Y_data_5 = Vel_Matrix_data_5(:,3);
+Omega_Z_data_5 = Vel_Matrix_data_5(:,7);
+
+%% Plots
+
+% marker position
+figure;
+plot(t_P_sec_data_4,Pose_Y_data_4,'k','LineWidth',1.6);
+xlabel('time');
+ylabel('y');
+
+figure;
+plot(t_P_sec_data_4,Theta_data_4),'k','LineWidth',1.6);
+xlabel('time');
+ylabel('\theta');
+
+
+figure;
+set(gcf,'color','white');
+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);
+hold on
+plot(t_P_sec_data_4,Pose_X_data_4,'m','LineWidth',1.6);
+title('Pose estimation in marker coordinate system');
+ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',14);
+
+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);
+legend('boxoff');
+
+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);
+hold on
+plot(t_P_sec_data_4,Pose_Y_data_4,'m','LineWidth',1.6);
+ylabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);
+
+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);
+hold on
+plot(t_P_sec_data_4,Theta_data_4,'m','LineWidth',1.6);
+xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
+ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',14);
+
+% control signals
+
+figure;
+set(gcf,'color','white');
+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);
+hold on
+plot(t_V_sec_data_4,Vel_X_data_4,'m','LineWidth',1.6);
+
+title('Control Signals');
+ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
+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);
+legend('boxoff');
+
+
+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);
+hold on
+plot(t_V_sec_data_4,Vel_Y_data_4,'m','LineWidth',1.6);
+ylabel('$\dot{y}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
+
+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);
+hold on
+plot(t_V_sec_data_4,Omega_Z_data_4,'m','LineWidth',1.6);
+xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
+ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',14);
+
+
+% 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(Pose_X_data_1);
+% Vy = gradient(Pose_Y_data_1);
+
+% figure;
+% plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',3.5);
+% hold on
+% quiver(Pose_Y_data_1,Pose_X_data_1,Vy,Vx,'r--','LineWidth',.1);
+
+figure;
+plot(abs(Pose_Y_data_4),Pose_X_data_4,'k','LineWidth',1.1);
+axis([-.5 .7 .1 1.6]);
+
+
+figure;
+subplot(1,3,1);
+plot(abs(Pose_Y_data_1),Pose_X_data_1,'b','LineWidth',2);
+% hold on
+% quiver(abs(Pose_Y_data_1),Pose_X_data_1,gradient(Pose_Y_data_1),gradient(Pose_X_data_1),'r--','LineWidth',.1);
+
+hold on
+plot(abs(Pose_Y_data_2),Pose_X_data_2,'r','LineWidth',2);
+% hold on
+% quiver(abs(Pose_Y_data_2),Pose_X_data_2,gradient(Pose_Y_data_2),gradient(Pose_X_data_2),'m--','LineWidth',.1);
+
+hold on
+plot(abs(Pose_Y_data_3),Pose_X_data_3,'g','LineWidth',2);
+% hold on
+% quiver(abs(Pose_Y_data_3),Pose_X_data_3,gradient(Pose_Y_data_3),gradient(Pose_X_data_3),'k--','LineWidth',.1);
+
+hold on
+plot(abs(Pose_Y_data_4),Pose_X_data_4,'m','LineWidth',2);
+% hold on
+% quiver(abs(Pose_Y_data_4),Pose_X_data_4,gradient(Pose_Y_data_4),gradient(Pose_X_data_4),'b--','LineWidth',.1);
+
+hold on
+plot(y_circle,x_circle,'k--','LineWidth',3.4);
+
+title('Approach zone + SM zone + Target area');
+ylabel('${x}_{mar}$ [m]','interpreter','latex','FontSize',14);
+% axis([-.1 .4 .18 1.4]);
+axis([-.5 .7 .1 1.6])
+
+subplot(1,3,2);
+plot(abs(Pose_Y_data_1),Pose_X_data_1,'b','LineWidth',2);
+hold on
+plot(abs(Pose_Y_data_2),Pose_X_data_2,'r','LineWidth',2);
+hold on
+plot(abs(Pose_Y_data_3),Pose_X_data_3,'g','LineWidth',2);
+hold on
+plot(abs(Pose_Y_data_4),Pose_X_data_4,'m','LineWidth',2);
+hold on
+plot(y_circle,x_circle,'k--','LineWidth',3.4);
+
+title('SM zone + Target area');
+xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',14);
+% axis([-.005 0.045 .195 .32]);
+
+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 area');
+% axis([0.0065 .0095 .1995 .2055]);
+
+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);
+% legend('boxoff');
+
+% 
+% % sampling time
+% figure;
+% set(gcf,'color','white');
+% 
+% 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'});
+% axis([0 234 .068 .3]);
+% 
+% l4 = legend('${Time_{ROS}}$','${Time_{Real}} [sec]$','Orientation','horizontal');
+% set(l4,'interpreter','latex','FontSize',13);
+% legend('boxoff');
+% 
+% 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;
+% set(gcf,'color','white');
+% 
+% 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]$','Orientation','horizontal');
+% % set(l5,'interpreter','latex','FontSize',11);
+% 
+% % leg = 
+% legend('ROS Time, USB camera','Real Time, USB camera [sec]','ROS Time, IP camera','Real Time, IP camera [sec]','Location','northwest');
+% legend('boxoff');
+% 
+% subplot(2,1,2);
+% p1 = plot(diff(TimeV_ros_data_3)/1e9,'r','LineWidth',2.1);
+% hold on;
+% p2 = plot (diff(t_V_sec_data_3),'k--','LineWidth',1.5);
+% hold on;
+% p3 = plot(diff(TimeV_ros_data_5)/1e9,'g','LineWidth',1.4);
+% hold on;
+% p4 = plot (diff(t_V_sec_data_5),'b--','LineWidth',1.8);
+% hold off;
+% axis([0 234 0 .3]);
+% title('Velocity');
+% % ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
+% % xlabel('Sample','interpreter','latex','FontSize',13);
+% % 
+% % l6 = legend([p3 p4],'$ 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/Different_controllers/docking_with_PID_controller.m b/Files_4_thesis/Different_controllers/docking_with_PID_controller.m
index c7f0fe1d5a4107fc6a1b99f8cfc09dfb51b021d6..63a4cd75d6eed2dc47d00f0bbe22313b3ce302a7 100644
--- a/Files_4_thesis/Different_controllers/docking_with_PID_controller.m
+++ b/Files_4_thesis/Different_controllers/docking_with_PID_controller.m
@@ -25,8 +25,8 @@ clear all;
 
 % Pose_Matrix_data_1 = csvread('POSE_with_Py0.86_Iy0_Dy0.002ANDPt0.08_It0_Dt0.txt',1,0);
 % Vel_Matrix_data_1 = csvread('VEL_with_Py0.86_Iy0_Dy0.002ANDPt0.08_It0_Dt0.txt',1,0);
-Pose_Matrix_data_1 = csvread('CAM_PID_.31_.00065_.071.txt',1,0);
-Vel_Matrix_data_1 = csvread('vel_PID_.31_.00065_.071.txt',1,0);
+Pose_Matrix_data_1 = csvread('CAM_PID_.28_.0001_.01.txt',1,0);
+Vel_Matrix_data_1 = csvread('vel_PID_.28_.0001_.01.txt',1,0);
 
 % time in position
 TimeP_ros_data_1 = Pose_Matrix_data_1(:,1); % ros time, needs to be converted to sec...
@@ -54,12 +54,12 @@ t_V_sec_data_1(:,size(t_V_sec_data_1,2)) = [];
 
 % theta-axis gains:
 % P = .28; I = 0.1; D = 0.15;
-
+% 
 % Pose_Matrix_data_2 = csvread('POSE_with_Py0.66_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
 % Vel_Matrix_data_2 = csvread('VEL_with_Py0.66_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
-
-Pose_Matrix_data_2 = csvread('CAM_PID_.38_.0001_.02.txt',1,0);
-Vel_Matrix_data_2 = csvread('vel_PID_.38_.0001_.02.txt',1,0);
+% 
+Pose_Matrix_data_2 = csvread('CAM_PID_.29_.00026_.015.txt',1,0);
+Vel_Matrix_data_2 = csvread('vel_PID_.29_.00026_.015.txt',1,0);
 
 % time in position
 TimeP_ros_data_2 = Pose_Matrix_data_2(:,1); % ros time, needs to be converted to sec...
@@ -91,8 +91,8 @@ t_V_sec_data_2(:,size(t_V_sec_data_2,2)) = [];
 % Pose_Matrix_data_3 = csvread('POSE_with_Py0.86_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
 % Vel_Matrix_data_3 = csvread('VEL_with_Py0.86_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
 
-Pose_Matrix_data_3 = csvread('CAM_PID_.38_0_.02.txt',1,0);
-Vel_Matrix_data_3 = csvread('vel_PID_.38_0_.02.txt',1,0);
+Pose_Matrix_data_3 = csvread('CAM_PID_.3_.0004_.02.txt',1,0);
+Vel_Matrix_data_3 = csvread('vel_PID_.3_.0004_.02.txt',1,0);
 
 % time in position
 TimeP_ros_data_3 = Pose_Matrix_data_3(:,1); % ros time, needs to be converted to sec...
@@ -120,10 +120,10 @@ t_V_sec_data_3(:,size(t_V_sec_data_3,2)) = [];
 
 % theta-axis gains:
 % P = .08; I = 0; D = 0;
-
+% 
 % Pose_Matrix_data_4 = csvread('POSE_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt',1,0);
 % Vel_Matrix_data_4 = csvread('VEL_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt',1,0);
-% 
+
 Pose_Matrix_data_4 = csvread('CAM_PID_.39_.0005_.01.txt',1,0);
 Vel_Matrix_data_4 = csvread('vel_PID_.39_.0005_.01.txt',1,0);
 
@@ -232,8 +232,8 @@ ref_Pose_data_3 =[ref_X_data_3;ref_Y_data_3];
 %data 4:
 % when using marker pose ,,,,
 Pose_X_data_4 = Pose_Matrix_data_4(:,4);
-Pose_Y_data_4 = Pose_Matrix_data_4(:,3);
-Theta_data_4 = Pose_Matrix_data_4(:,7);
+Pose_Y_data_4 = abs(Pose_Matrix_data_4(:,3));
+Theta_data_4 = -abs(Pose_Matrix_data_4(:,7));
 
 
 % Extracting reference values when the robot is manually docked!
@@ -298,9 +298,13 @@ Omega_Z_data_5 = Vel_Matrix_data_5(:,7);
 % marker position
 figure;
 plot(t_P_sec_data_4,Pose_Y_data_4,'k','LineWidth',1.6);
+xlabel('time');
+ylabel('y');
 
 figure;
 plot(t_P_sec_data_4,Theta_data_4,'k','LineWidth',1.6);
+xlabel('time');
+ylabel('\theta');
 
 
 figure;
@@ -311,12 +315,12 @@ 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);
-hold on
-plot(t_P_sec_data_4,Pose_X_data_4,'m','LineWidth',1.6);
+% hold on
+% plot(t_P_sec_data_4,Pose_X_data_4,'m','LineWidth',1.6);
 title('Pose estimation in marker coordinate system');
 ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',14);
 
-l2 = legend('${P_y = 0.86, I_y = 0, D_y = 0.002}$', '${P_y = 0.66, I_y = 0, D_y = 0.1}$','${P_y = 0.86, I_y = 0, D_y = 0.1}$','${P_y = 0.51, I_y = 0.0005, D_y = 0.05}$');
+l2 = legend('${P_y = 0.28, I_y = 0.0001, D_y = 0.01}$', '${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.3, I_y = 0.0004, D_y = 0.02}$','${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$');
 set(l2,'interpreter','latex','FontSize',11);
 legend('boxoff');
 
@@ -326,23 +330,23 @@ 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);
-hold on
-plot(t_P_sec_data_4,Pose_Y_data_4,'m','LineWidth',1.6);
+% hold on
+% plot(t_P_sec_data_4,Pose_Y_data_4,'m','LineWidth',1.6);
 ylabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);
-
+% axis([0 80 -.1 .67])
 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);
-hold on
-plot(t_P_sec_data_4,Theta_data_4,'m','LineWidth',1.6);
+% hold on
+% plot(t_P_sec_data_4,Theta_data_4,'m','LineWidth',1.6);
 xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
 ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',14);
 
-% control signals
 
+% control signals
 figure;
 set(gcf,'color','white');
 subplot(3,1,1);
@@ -352,14 +356,14 @@ 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);
-hold on
-plot(t_V_sec_data_4,Vel_X_data_4,'m','LineWidth',1.6);
+% hold on
+% plot(t_V_sec_data_4,Vel_X_data_4,'m','LineWidth',1.6);
 
 title('Control Signals');
 ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
 axis([0 45 -.01 .2]);
 
-l2 = legend('${P_y = 0.86, I_y = 0, D_y = 0.002}$', '${P_y = 0.66, I_y = 0, D_y = 0.1}$','${P_y = 0.86, I_y = 0, D_y = 0.1}$','${P_y = 0.51, I_y = 0.0005, D_y = 0.05}$');
+l2 = legend('${P_y = 0.28, I_y = 0.0001, D_y = 0.01}$', '${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.3, I_y = 0.0004, D_y = 0.02}$','${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$');
 set(l2,'interpreter','latex','FontSize',11);
 legend('boxoff');
 
@@ -370,8 +374,8 @@ 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);
-hold on
-plot(t_V_sec_data_4,Vel_Y_data_4,'m','LineWidth',1.6);
+% hold on
+% plot(t_V_sec_data_4,Vel_Y_data_4,'m','LineWidth',1.6);
 ylabel('$\dot{y}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
 
 subplot(3,1,3);
@@ -380,8 +384,8 @@ 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);
-hold on
-plot(t_V_sec_data_4,Omega_Z_data_4,'m','LineWidth',1.6);
+% hold on
+% plot(t_V_sec_data_4,Omega_Z_data_4,'m','LineWidth',1.6);
 xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
 ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',14);
 
@@ -414,29 +418,32 @@ ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',14);
 % plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',3.5);
 % hold on
 % quiver(Pose_Y_data_1,Pose_X_data_1,Vy,Vx,'r--','LineWidth',.1);
+
 figure;
-plot(Pose_Y_data_4,Pose_X_data_4,'k','LineWidth',2);
+plot(Pose_Y_data_4,Pose_X_data_4,'k','LineWidth',1.1);
+axis([-.5 .7 .1 1.6]);
+
 
 figure;
 subplot(1,3,1);
 plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
-hold on
-quiver(Pose_Y_data_1,Pose_X_data_1,gradient(Pose_Y_data_1),gradient(Pose_X_data_1),'r--','LineWidth',.1);
+% hold on
+% quiver(abs(Pose_Y_data_1),Pose_X_data_1,gradient(Pose_Y_data_1),gradient(Pose_X_data_1),'r--','LineWidth',.1);
 
 hold on
 plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
-hold on
-quiver(Pose_Y_data_2,Pose_X_data_2,gradient(Pose_Y_data_2),gradient(Pose_X_data_2),'m--','LineWidth',.1);
+% hold on
+% quiver(abs(Pose_Y_data_2),Pose_X_data_2,gradient(Pose_Y_data_2),gradient(Pose_X_data_2),'m--','LineWidth',.1);
 
 hold on
 plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
-hold on
-quiver(Pose_Y_data_3,Pose_X_data_3,gradient(Pose_Y_data_3),gradient(Pose_X_data_3),'k--','LineWidth',.1);
+% hold on
+% quiver(abs(Pose_Y_data_3),Pose_X_data_3,gradient(Pose_Y_data_3),gradient(Pose_X_data_3),'k--','LineWidth',.1);
 
-hold on
-plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
-hold on
-quiver(Pose_Y_data_4,Pose_X_data_4,gradient(Pose_Y_data_4),gradient(Pose_X_data_4),'b--','LineWidth',.1);
+% hold on
+% plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
+% hold on
+% quiver(abs(Pose_Y_data_4),Pose_X_data_4,gradient(Pose_Y_data_4),gradient(Pose_X_data_4),'b--','LineWidth',.1);
 
 hold on
 plot(y_circle,x_circle,'k--','LineWidth',3.4);
@@ -444,15 +451,16 @@ plot(y_circle,x_circle,'k--','LineWidth',3.4);
 title('Approach zone + SM zone + Target area');
 ylabel('${x}_{mar}$ [m]','interpreter','latex','FontSize',14);
 % axis([-.1 .4 .18 1.4]);
+axis([-.5 .7 .1 1.6])
 
 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);
+plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
 hold on
-plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',1.6);
+plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
 hold on
-plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',1.6);
+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);
 
@@ -466,130 +474,130 @@ 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(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
 hold on
 plot(y_circle,x_circle,'k--','LineWidth',3.4);
 
 title('Target area');
 % axis([0.0065 .0095 .1995 .2055]);
 
-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');
+l = legend('${P_y = 0.28, I_y = 0.0001, D_y = 0.01}$', '${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.3, I_y = 0.0004, D_y = 0.02}$','${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$');
 set(l,'interpreter','latex','FontSize',11);
 % legend('boxoff');
 
-
-% sampling time
-figure;
-set(gcf,'color','white');
-
-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);
+% 
+% % sampling time
+% figure;
+% set(gcf,'color','white');
+% 
+% subplot(2,2,1);
+% plot(diff(TimeP_ros_data_3)/1e9,'r','LineWidth',1.4)
 % 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'});
-axis([0 234 .068 .3]);
-
-l4 = legend('${Time_{ROS}}$','${Time_{Real}} [sec]$','Orientation','horizontal');
-set(l4,'interpreter','latex','FontSize',13);
-legend('boxoff');
-
-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);
+% 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([0 234 .068 .3]);
-
-
-figure;
-set(gcf,'color','white');
-
-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);
+% axis([0 450 .068 .11]);
+% l3 = legend('${Time_{ROS}}$','${Time_{Real}} [sec]$','Orientation','horizontal');
+% set(l3,'interpreter','latex','FontSize',13);
 % 
-% l5 = legend([pa1 pa2],'$USB Camera {Time_{ROS}}$','$ USB Camera {Time_{Real}} [sec]$','Orientation','horizontal');
-% set(l5,'interpreter','latex','FontSize',11);
-
-% leg = 
-legend('ROS Time, USB camera','Real Time, USB camera [sec]','ROS Time, IP camera','Real Time, IP camera [sec]','Location','northwest');
-legend('boxoff');
-
-subplot(2,1,2);
-p1 = plot(diff(TimeV_ros_data_3)/1e9,'r','LineWidth',2.1);
-hold on;
-p2 = plot (diff(t_V_sec_data_3),'k--','LineWidth',1.5);
-hold on;
-p3 = plot(diff(TimeV_ros_data_5)/1e9,'g','LineWidth',1.4);
-hold on;
-p4 = plot (diff(t_V_sec_data_5),'b--','LineWidth',1.8);
-hold off;
-axis([0 234 0 .3]);
-title('Velocity');
+% subplot(2,2,2);
+% plot(diff(TimeP_ros_data_5)/1e9,'g','LineWidth',1.4)
+% hold on;
+% plot (diff(t_P_sec_data_5),'b--','LineWidth',1.8);
+% 
+% title({'Android Camera';'Position'});
+% axis([0 234 .068 .3]);
+% 
+% l4 = legend('${Time_{ROS}}$','${Time_{Real}} [sec]$','Orientation','horizontal');
+% set(l4,'interpreter','latex','FontSize',13);
+% legend('boxoff');
+% 
+% subplot(2,2,3);
+% plot(diff(TimeV_ros_data_3)/1e9,'r','LineWidth',1.4);
+% hold on;
+% plot (diff(t_V_sec_data_3),'k--','LineWidth',1.8);
+% % hold on;
+% title('Velocity');
+% xlabel('samples','interpreter','latex','FontSize',13);
 % ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
-% xlabel('Sample','interpreter','latex','FontSize',13);
+% axis([0 450 .068 .11]);
+% 
+% subplot(2,2,4);
+% plot(diff(TimeV_ros_data_5)/1e9,'g','LineWidth',1.4);
+% hold on;
+% plot (diff(t_V_sec_data_5),'b--','LineWidth',1.8);
+% 
+% title('Velocity');
+% xlabel('samples','interpreter','latex','FontSize',13);
+% % ylabel('Sampling time [sec]','interpreter','latex','FontSize',11);
+% axis([0 234 .068 .3]);
+% 
 % 
-% l6 = legend([p3 p4],'$ Android Camera {Time_{ROS}}$','$ Android Camera {Time_{Real}} [sec]$','Orientation','horizontal');
-% set(l6,'interpreter','latex','FontSize',12);
-
-MaxOvershoot_1 = -ref_y + min(Pose_Y_data_1)
-MaxOvershoot_2 = -ref_y + min(Pose_Y_data_2)
-MaxOvershoot_3 = -ref_y + min(Pose_Y_data_3)
-MaxOvershoot_4 = -ref_y + min(Pose_Y_data_4)
-% Pose diff 
 % figure;
-% subplot(3,1,1);
-% plot(diff(Pose_X_data_1));
-% title('X-Pose diff');
-% xlabel('samples');
-% ylabel('X difference [m]');
-% grid on
+% set(gcf,'color','white');
+% 
+% subplot(2,1,1);
+% pa1 = plot(diff(TimeP_ros_data_3)/1e9,'r','LineWidth',2.1);
+% hold on
+% pa2 = plot (diff(t_P_sec_data_3),'k--','LineWidth',1.5);
+% hold on
+% pa3 = plot(diff(TimeP_ros_data_5)/1e9,'g','LineWidth',1.4);
+% hold on;
+% pa4 = plot (diff(t_P_sec_data_5),'b--','LineWidth',1.8);
+% hold off;
+% axis([0 234 0 .3]);
+% title('Position');
+% % ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
+% % 
+% % l5 = legend([pa1 pa2],'$USB Camera {Time_{ROS}}$','$ USB Camera {Time_{Real}} [sec]$','Orientation','horizontal');
+% % set(l5,'interpreter','latex','FontSize',11);
 % 
-% subplot(3,1,2);
-% plot(diff(Pose_X_data_1));
-% title('Y-Pose diff');
-% xlabel('samples');
-% ylabel('Y difference [m]');
-% grid on
+% % leg = 
+% legend('ROS Time, USB camera','Real Time, USB camera [sec]','ROS Time, IP camera','Real Time, IP camera [sec]','Location','northwest');
+% legend('boxoff');
+% 
+% subplot(2,1,2);
+% p1 = plot(diff(TimeV_ros_data_3)/1e9,'r','LineWidth',2.1);
+% hold on;
+% p2 = plot (diff(t_V_sec_data_3),'k--','LineWidth',1.5);
+% hold on;
+% p3 = plot(diff(TimeV_ros_data_5)/1e9,'g','LineWidth',1.4);
+% hold on;
+% p4 = plot (diff(t_V_sec_data_5),'b--','LineWidth',1.8);
+% hold off;
+% axis([0 234 0 .3]);
+% title('Velocity');
+% % ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
+% % xlabel('Sample','interpreter','latex','FontSize',13);
+% % 
+% % l6 = legend([p3 p4],'$ Android Camera {Time_{ROS}}$','$ Android Camera {Time_{Real}} [sec]$','Orientation','horizontal');
+% % set(l6,'interpreter','latex','FontSize',12);
 % 
-% 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
+% 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/Different_controllers/odom_PID_.31_.00065_.071.txt b/Files_4_thesis/Different_controllers/odom_PID_.31_.00065_.071.txt
deleted file mode 100644
index e7395e4a15dcf5d9604b2f0e73fc6ba6a7989ac6..0000000000000000000000000000000000000000
--- a/Files_4_thesis/Different_controllers/odom_PID_.31_.00065_.071.txt
+++ /dev/null
@@ -1,5250 +0,0 @@
-%time,field.x,field.y,field.z
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diff --git a/Files_4_thesis/Different_controllers/odom_PID_.38_.0001_.02.txt b/Files_4_thesis/Different_controllers/odom_PID_.38_.0001_.02.txt
deleted file mode 100644
index 815d68fba8280ad15254a20be234dae31432814d..0000000000000000000000000000000000000000
--- a/Files_4_thesis/Different_controllers/odom_PID_.38_.0001_.02.txt
+++ /dev/null
@@ -1,2970 +0,0 @@
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diff --git a/Files_4_thesis/Different_controllers/odom_PID_.38_0_.02.txt b/Files_4_thesis/Different_controllers/odom_PID_.38_0_.02.txt
deleted file mode 100644
index 51921fc64bac1f075cd860798ce79fa7e628ae19..0000000000000000000000000000000000000000
--- a/Files_4_thesis/Different_controllers/odom_PID_.38_0_.02.txt
+++ /dev/null
@@ -1,4001 +0,0 @@
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diff --git a/Files_4_thesis/Different_controllers/odom_PID_.39_.0005_.01.txt b/Files_4_thesis/Different_controllers/odom_PID_.39_.0005_.01.txt
deleted file mode 100644
index 7be5797ab5ddcfe8caceeab990bf08fbe050ccc1..0000000000000000000000000000000000000000
--- a/Files_4_thesis/Different_controllers/odom_PID_.39_.0005_.01.txt
+++ /dev/null
@@ -1,3866 +0,0 @@
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diff --git a/Files_4_thesis/Different_controllers/vel_PID_.28_.0001_.01.txt b/Files_4_thesis/Different_controllers/vel_PID_.28_.0001_.01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f340fdbc9c67443ba40498d872f83e45ef8f07b9
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/vel_PID_.28_.0001_.01.txt
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diff --git a/Files_4_thesis/Different_controllers/vel_PID_.29_.00026_.015.txt b/Files_4_thesis/Different_controllers/vel_PID_.29_.00026_.015.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7e47b4937563ec9ebacf27dadbec053afa914340
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/vel_PID_.29_.00026_.015.txt
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diff --git a/Files_4_thesis/Different_controllers/vel_PID_.31_.00065_.071.txt b/Files_4_thesis/Different_controllers/vel_PID_.31_.00065_.071.txt
index 6a729b29905821d6a5e0a3e04f24a91f6f6db388..5eb7a2ecb1c0b3132682ab8d451ce79c4217d495 100644
--- a/Files_4_thesis/Different_controllers/vel_PID_.31_.00065_.071.txt
+++ b/Files_4_thesis/Different_controllers/vel_PID_.31_.00065_.071.txt
@@ -1,329 +1,967 @@
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diff --git a/Files_4_thesis/Different_controllers/vel_PID_.38_.0001_.02.txt b/Files_4_thesis/Different_controllers/vel_PID_.38_.0001_.02.txt
index f1770e9a5b96fb02da4a9ce6e7c37f3143dc3258..93dee6478dc3d146fbd21e9acdf13f9224a5cedb 100644
--- a/Files_4_thesis/Different_controllers/vel_PID_.38_.0001_.02.txt
+++ b/Files_4_thesis/Different_controllers/vel_PID_.38_.0001_.02.txt
@@ -1,342 +1,298 @@
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diff --git a/Files_4_thesis/Different_controllers/vel_PID_.38_0_.02.txt b/Files_4_thesis/Different_controllers/vel_PID_.38_0_.02.txt
index 0274dabd86ebbcb4e987049b942d53de96770603..2d2d9463038d668d22dd17baeacc36460c82d126 100644
--- a/Files_4_thesis/Different_controllers/vel_PID_.38_0_.02.txt
+++ b/Files_4_thesis/Different_controllers/vel_PID_.38_0_.02.txt
@@ -1,328 +1,358 @@
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diff --git a/Files_4_thesis/Different_controllers/vel_PID_.39_.0005_.01.txt b/Files_4_thesis/Different_controllers/vel_PID_.39_.0005_.01.txt
index 7845604079e713d49fefa20ac80aa7aad252a89f..35c632628a2b8ce4f918eb0aff5b07d5b61d57d7 100644
--- a/Files_4_thesis/Different_controllers/vel_PID_.39_.0005_.01.txt
+++ b/Files_4_thesis/Different_controllers/vel_PID_.39_.0005_.01.txt
@@ -1,345 +1,305 @@
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diff --git a/Files_4_thesis/Different_controllers/vel_PID_.3_.0004_.02.txt b/Files_4_thesis/Different_controllers/vel_PID_.3_.0004_.02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7d7903a6aaa66abc83bebe363089df87d3436097
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/vel_PID_.3_.0004_.02.txt
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diff --git a/Files_4_thesis/Odometry/Odometry_Exp.m b/Files_4_thesis/Odometry/Odometry_Exp.m
new file mode 100644
index 0000000000000000000000000000000000000000..ad46073050e183ee59a511fcc9a76ad9a350413f
--- /dev/null
+++ b/Files_4_thesis/Odometry/Odometry_Exp.m
@@ -0,0 +1,72 @@
+clc;
+close all;
+clear all;
+%% Import data and time conversion
+
+% data 1: 
+odom_Matrix_data_1 = csvread('odom_PID_.38_.0001_.02.txt',1,0);
+
+% time calc. in position
+TimeP_ros_data_1 = odom_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)) = [];
+
+
+% data 2: 
+odom_Matrix_data_2 = csvread('odom_PID_.31_.00065_.071.txt',1,0);
+
+% time calc. in position
+TimeP_ros_data_2 = odom_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)) = [];
+
+
+% data 3: 
+odom_Matrix_data_3 = csvread('odom_PID_.39_.0005_.01.txt',1,0);
+
+% time calc. in position
+TimeP_ros_data_3 = odom_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)) = [];
+
+
+%% Pose estimation
+
+%data 1:
+odom_X_data_1 = odom_Matrix_data_1(:,2);
+odom_Y_data_1 = odom_Matrix_data_1(:,3);
+
+%data 2:
+odom_X_data_2 = odom_Matrix_data_2(:,2);
+odom_Y_data_2 = odom_Matrix_data_2(:,3);
+
+%data 1:
+odom_X_data_3 = odom_Matrix_data_3(:,2);
+odom_Y_data_3 = odom_Matrix_data_3(:,3);
+
+
+%% plots
+figure;
+plot(odom_Y_data_1,odom_X_data_1,'r');
+hold on
+plot(odom_Y_data_2,odom_X_data_2,'k');
+hold on
+plot(odom_Y_data_3,odom_X_data_3,'b');
+
+figure;
+plot(t_P_sec_data_1,odom_Y_data_1);
+
+figure;
+plot(t_P_sec_data_1,odom_X_data_1);
diff --git a/Files_4_thesis/Odometry/odom_PID_.31_.00065_.071.txt b/Files_4_thesis/Odometry/odom_PID_.31_.00065_.071.txt
new file mode 100644
index 0000000000000000000000000000000000000000..345a943a5c94ccac51cce89cca9b95ad14c7b021
--- /dev/null
+++ b/Files_4_thesis/Odometry/odom_PID_.31_.00065_.071.txt
@@ -0,0 +1,7966 @@
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diff --git a/Files_4_thesis/Odometry/odom_PID_.38_.0001_.02.txt b/Files_4_thesis/Odometry/odom_PID_.38_.0001_.02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4f878b90feaacf129b7f8c1270effa094b7363d1
--- /dev/null
+++ b/Files_4_thesis/Odometry/odom_PID_.38_.0001_.02.txt
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diff --git a/Files_4_thesis/Odometry/odom_PID_.38_0_.02.txt b/Files_4_thesis/Odometry/odom_PID_.38_0_.02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c86a23a208a9ad143e46d5fbea5b46013ccac11b
--- /dev/null
+++ b/Files_4_thesis/Odometry/odom_PID_.38_0_.02.txt
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diff --git a/Files_4_thesis/Odometry/odom_PID_.39_.0005_.01.txt b/Files_4_thesis/Odometry/odom_PID_.39_.0005_.01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0e68f48f19219c0cf176468c330d805c1ef11a0f
--- /dev/null
+++ b/Files_4_thesis/Odometry/odom_PID_.39_.0005_.01.txt
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+1474999006138166213,1.13136369799,0.406721869301,0.0,0.0,0.0,-0.0779412648961,0.996957952587
+1474999006138215314,1.13136248525,0.406722060286,0.0,0.0,0.0,-0.0779508788905,0.996957200927
+1474999006138490064,1.13136528947,0.406721618539,0.0,0.0,0.0,-0.0779503705062,0.996957240677
+1474999006178127144,1.13136858822,0.406721099651,0.0,0.0,0.0,-0.0779527034805,0.996957058263
+1474999006178147784,1.13136913106,0.406721015361,0.0,0.0,0.0,-0.0779491317629,0.996957337531
+1474999006178202324,1.13136788873,0.406721211255,0.0,0.0,0.0,-0.0779461369671,0.996957571681
+1474999006178257134,1.13136973144,0.406720920956,0.0,0.0,0.0,-0.0779504820504,0.996957231955
+1474999006218187269,1.13137377958,0.406720284125,0.0,0.0,0.0,-0.0779503666298,0.99695724098
+1474999006218259912,1.13137537363,0.40672003386,0.0,0.0,0.0,-0.077952625727,0.996957064342
+1474999006218315556,1.13137543152,0.406720024907,0.0,0.0,0.0,-0.0779609712459,0.996956411767
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diff --git a/Files_4_thesis/x_tANDy_t/y_tANDx_t.m b/Files_4_thesis/x_tANDy_t/y_tANDx_t.m
index 8fd10855eabe8e7b61ee4f108572f25a9749ff85..f870a86810c9649e8d281babac509197f2814417 100644
--- a/Files_4_thesis/x_tANDy_t/y_tANDx_t.m
+++ b/Files_4_thesis/x_tANDy_t/y_tANDx_t.m
@@ -40,7 +40,7 @@ t_V_sec_data_4(:,size(t_V_sec_data_4,2)) = [];
 %data 4:
 Pose_X_data_4 = Pose_Matrix_data_4(:,4);
 Pose_Y_data_4 = Pose_Matrix_data_4(:,3);
-Theta_data_4 = Pose_Matrix_data_4(:,5);
+Theta_data_4 = Pose_Matrix_data_4(:,7);
 
 % Extracting reference values when the robot is manually docked!
 ref_X_data_4 = Pose_X_data_4(size(Pose_X_data_4,1));
@@ -78,6 +78,11 @@ plot(t_P_sec_data_4,Pose_Y_data_4,'LineWidth',3);
 xlabel('time');
 ylabel('y');
 
+figure;
+plot(t_V_sec_data_4,Vel_Y_data_4,'LineWidth',3);
+xlabel('time');
+ylabel('y_{dot}');
+
 figure;
 set(gcf,'color','white');
 plot(Pose_Y_data_4,Pose_X_data_4,'b','LineWidth',2);