diff --git a/Files_4_thesis/Different_controllers/POSE_with_Py0.5_Iy0.001_Dy0.2ANDPt.08_It0_Dt0.txt b/Files_4_thesis/Different_controllers/POSE_with_Py0.5_Iy0.001_Dy0.2ANDPt.08_It0_Dt0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7246677360ed4e9885b115aa4d108f87938a351d
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/POSE_with_Py0.5_Iy0.001_Dy0.2ANDPt.08_It0_Dt0.txt
@@ -0,0 +1,440 @@
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diff --git a/Files_4_thesis/Different_controllers/POSE_with_Py0.66_Iy0_Dy0.1ANDPt.08_It0_Dt0.txt b/Files_4_thesis/Different_controllers/POSE_with_Py0.66_Iy0_Dy0.1ANDPt.08_It0_Dt0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..be7a724a1e2078ea70099d02abcdf02ff3be26a2
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/POSE_with_Py0.66_Iy0_Dy0.1ANDPt.08_It0_Dt0.txt
@@ -0,0 +1,497 @@
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diff --git a/Files_4_thesis/Different_controllers/POSE_with_Py0.86_Iy0_Dy0.1ANDPt.08_It0_Dt0.txt b/Files_4_thesis/Different_controllers/POSE_with_Py0.86_Iy0_Dy0.1ANDPt.08_It0_Dt0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0b398ce8913714e565f33dd82dc7edb84a765881
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/POSE_with_Py0.86_Iy0_Dy0.1ANDPt.08_It0_Dt0.txt
@@ -0,0 +1,449 @@
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diff --git a/Files_4_thesis/Different_controllers/VEL_with_Py0.5_Iy0.001_Dy0.2ANDPt.08_It0_Dt0.txt b/Files_4_thesis/Different_controllers/VEL_with_Py0.5_Iy0.001_Dy0.2ANDPt.08_It0_Dt0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b29177bfb16c84b78922f9c865abbee8dfc8460c
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/VEL_with_Py0.5_Iy0.001_Dy0.2ANDPt.08_It0_Dt0.txt
@@ -0,0 +1,439 @@
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diff --git a/Files_4_thesis/Different_controllers/VEL_with_Py0.66_Iy0_Dy0.1ANDPt.08_It0_Dt0.txt b/Files_4_thesis/Different_controllers/VEL_with_Py0.66_Iy0_Dy0.1ANDPt.08_It0_Dt0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f4905ce08aa9c391e7e2681af5a90a63598e41f
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/VEL_with_Py0.66_Iy0_Dy0.1ANDPt.08_It0_Dt0.txt
@@ -0,0 +1,496 @@
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diff --git a/Files_4_thesis/Different_controllers/VEL_with_Py0.86_Iy0_Dy0.1ANDPt.08_It0_Dt0.txt b/Files_4_thesis/Different_controllers/VEL_with_Py0.86_Iy0_Dy0.1ANDPt.08_It0_Dt0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c5bffef9ff2e16f85efb068f145ad59df9ea4c0b
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/VEL_with_Py0.86_Iy0_Dy0.1ANDPt.08_It0_Dt0.txt
@@ -0,0 +1,448 @@
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diff --git a/Files_4_thesis/Different_controllers/docking_with_PID_controller.m b/Files_4_thesis/Different_controllers/docking_with_PID_controller.m
new file mode 100644
index 0000000000000000000000000000000000000000..c34f0b5598aba808a6a15bb57007bdf3382462c8
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/docking_with_PID_controller.m
@@ -0,0 +1,409 @@
+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_Py0.5_Iy0.001_Dy0.2ANDPt.08_It0_Dt0.txt',1,0);
+Vel_Matrix_data_1 = csvread('VEL_with_Py0.5_Iy0.001_Dy0.2ANDPt.08_It0_Dt0.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_Dy0.1ANDPt.08_It0_Dt0.txt',1,0);
+Vel_Matrix_data_2 = csvread('VEL_with_Py0.66_Iy0_Dy0.1ANDPt.08_It0_Dt0.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_Dy0.1ANDPt.08_It0_Dt0.txt',1,0);
+Vel_Matrix_data_3 = csvread('VEL_with_Py0.86_Iy0_Dy0.1ANDPt.08_It0_Dt0.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];
+
+thresh_X = .001;
+theta = 0:.001:2*pi;
+
+% needs to be adjusted manually if docking platform is replaced!
+ref_x = .2;
+ref_y = .00903123;
+
+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);
+hold on
+plot(t_P_sec_data_2,Pose_X_data_2,'r');
+hold on
+plot(t_P_sec_data_3,Pose_X_data_3,'g');
+
+title('Marker X-axis');
+% xlabel('Time [sec]');
+ylabel('X [m]');
+grid on
+
+subplot(3,1,2);
+plot(t_P_sec_data_1,Pose_Y_data_1);
+hold on
+plot(t_P_sec_data_2,Pose_Y_data_2,'r');
+hold on
+plot(t_P_sec_data_3,Pose_Y_data_3,'g');
+
+title('Marker Y-axis');
+% xlabel('Time [sec]');
+ylabel('Y [m]');
+grid on
+
+subplot(3,1,3);
+plot(t_P_sec_data_1,Theta_data_1);
+hold on
+plot(t_P_sec_data_2,Theta_data_2,'r');
+hold on
+plot(t_P_sec_data_3,Theta_data_3,'g');
+
+title('Marker \theta-axis');
+xlabel('Time [sec]');
+ylabel('\theta [rad]');
+grid on
+
+% control signals
+figure;
+subplot(3,1,1);
+
+plot(t_V_sec_data_1,Vel_X_data_1,'LineWidth',1.2);
+hold on
+plot(t_V_sec_data_2,Vel_X_data_2,'r','LineWidth',1.2);
+hold on
+plot(t_V_sec_data_3,Vel_X_data_3,'g','LineWidth',1.2);
+
+title('Control Signal X-axis');
+% xlabel('Time [sec]');
+ylabel('V_x [m/s]');
+grid on
+% axis([0 46 -.01 .11]);
+
+subplot(3,1,2);
+plot(t_V_sec_data_1,Vel_Y_data_1,'LineWidth',1.2);
+hold on
+plot(t_V_sec_data_2,Vel_Y_data_2,'r','LineWidth',1.2);
+hold on
+plot(t_V_sec_data_3,Vel_Y_data_3,'g','LineWidth',1.2);
+
+title('Control Signal Y-axis');
+% xlabel('Time [sec]');
+ylabel('V_y [m/s]');
+grid on
+% axis([0 46 -.2 .1]);
+
+subplot(3,1,3);
+plot(t_V_sec_data_1,Omega_Z_data_1,'LineWidth',1.2);
+hold on
+plot(t_V_sec_data_2,Omega_Z_data_2,'r','LineWidth',1.2);
+hold on
+plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',1.2);
+
+title('Control Signal \theta-axis');
+xlabel('Time [sec]');
+ylabel('\omega [rad/s]');
+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(y_circle,x_circle,'k--','LineWidth',3.4)
+
+title('Docking Trajectroy (Whole area)');
+xlabel('Y [m]');
+ylabel('X [m]');
+axis([-.3 .4 .18 1.4]);
+grid on
+
+subplot(1,3,2);
+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(y_circle,x_circle,'k--','LineWidth',3.4);
+title('Docking Trajectroy (SM zone)');
+xlabel('Y [m]');
+ylabel('X [m]');
+axis([-.01 0.06 .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(y_circle,x_circle,'k--','LineWidth',3.4);
+title('Docking Trajectroy (reference area)');
+xlabel('Y [m]');
+ylabel('X [m]');
+axis([0.006 .012 .198 .204]);
+grid on
+legend('P_y = 0.5, I_y = 0.001, D_y = 0.2', 'P_y = 0.66, I_y = 0, D_y = 0.1','P_y = 0.86, I_y = 0, D_y = 0.1' ,'Reference Position');
+
+
+figure;
+subplot(2,1,1);
+plot(diff(TimeP_ros_data_1)/1e9,'g')
+hold on
+plot (diff(t_P_sec_data_1),'k--')
+title('Position sampling time');
+ylabel('Sampling time');
+legend('ROS calc.','Real time calc. [sec]','Orientation','horizontal');
+% grid on
+% axis([0 428 .05 .15]);
+
+subplot(2,1,2);
+plot(diff(TimeV_ros_data_1)/1e9,'g');
+hold on
+plot (diff(t_V_sec_data_1),'k--')
+title('Velocity sampling time');
+xlabel('samples');
+ylabel('Sampling time');
+% legend('ROS calc.','Ordinary calc.','Orientation','horizontal');
+% grid on
+% axis([0 428 -.005 .025]);
+% 
+% subplot(3,1,3);
+% plot(diff(TimeV_ros_data_1)/1e9,'g')
+% hold on
+% plot (diff(t_V_sec_data_1),'k--')
+% xlabel('samples');
+% ylabel('time step');
+% axis([150 250 0 .02]);
+
+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/Finding_X_dot_with_Pcontroller/Pose01_08_16_1718.txt b/Files_4_thesis/Finding_X_dot_with_Pcontroller/Pose01_08_16_1718.txt
new file mode 100644
index 0000000000000000000000000000000000000000..86558a416a7bfdf63a2778db69117fd1a0fca9cd
--- /dev/null
+++ b/Files_4_thesis/Finding_X_dot_with_Pcontroller/Pose01_08_16_1718.txt
@@ -0,0 +1,526 @@
+%time,field.position.x,field.position.y,field.position.z,field.orientation.x,field.orientation.y,field.orientation.z,field.orientation.w
+1470064445216708425,-0.0319079644978,0.284221321344,1.34499573708,-0.0522278936644,0.0108221608749,-0.455652948555,-0.888558112016
+1470064445335781895,-0.0318458080292,0.284843683243,1.34790849686,-0.0662268229428,0.0156684927514,-0.457386333481,-0.886660165003
+1470064445414744658,-0.0319301486015,0.283721745014,1.34312796593,-0.0476906954145,0.00947738971419,-0.451821651475,-0.89078222474
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diff --git a/Files_4_thesis/Finding_X_dot_with_Pcontroller/Pose01_08_16_1749.txt b/Files_4_thesis/Finding_X_dot_with_Pcontroller/Pose01_08_16_1749.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ecd1fb57d6d93bf981c12daee10a470559a167e0
--- /dev/null
+++ b/Files_4_thesis/Finding_X_dot_with_Pcontroller/Pose01_08_16_1749.txt
@@ -0,0 +1,756 @@
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diff --git a/Files_4_thesis/Finding_X_dot_with_Pcontroller/Pose01_08_16_1831.txt b/Files_4_thesis/Finding_X_dot_with_Pcontroller/Pose01_08_16_1831.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cf6c6d94a493b688479ce9242ce59c5058c572b2
--- /dev/null
+++ b/Files_4_thesis/Finding_X_dot_with_Pcontroller/Pose01_08_16_1831.txt
@@ -0,0 +1,538 @@
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diff --git a/Files_4_thesis/Finding_X_dot_with_Pcontroller/Velocity01_08_16_1718.txt b/Files_4_thesis/Finding_X_dot_with_Pcontroller/Velocity01_08_16_1718.txt
new file mode 100644
index 0000000000000000000000000000000000000000..04755c12b06756872f86d23982a6203d396b1ad8
--- /dev/null
+++ b/Files_4_thesis/Finding_X_dot_with_Pcontroller/Velocity01_08_16_1718.txt
@@ -0,0 +1,525 @@
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diff --git a/Files_4_thesis/Finding_X_dot_with_Pcontroller/Velocity01_08_16_1749.txt b/Files_4_thesis/Finding_X_dot_with_Pcontroller/Velocity01_08_16_1749.txt
new file mode 100644
index 0000000000000000000000000000000000000000..31ceac59f8990e3bea66b2aa886cb6fcf9a38a13
--- /dev/null
+++ b/Files_4_thesis/Finding_X_dot_with_Pcontroller/Velocity01_08_16_1749.txt
@@ -0,0 +1,755 @@
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diff --git a/Files_4_thesis/Finding_X_dot_with_Pcontroller/Velocity01_08_16_1831.txt b/Files_4_thesis/Finding_X_dot_with_Pcontroller/Velocity01_08_16_1831.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a3599c0233349dee5e3723d307fef4cb1602adfd
--- /dev/null
+++ b/Files_4_thesis/Finding_X_dot_with_Pcontroller/Velocity01_08_16_1831.txt
@@ -0,0 +1,537 @@
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diff --git a/Files_4_thesis/Finding_X_dot_with_Pcontroller/docking_with_P_controller.m b/Files_4_thesis/Finding_X_dot_with_Pcontroller/docking_with_P_controller.m
new file mode 100644
index 0000000000000000000000000000000000000000..1437af9362ff493deb4d65e6b436d85dee9ffea3
--- /dev/null
+++ b/Files_4_thesis/Finding_X_dot_with_Pcontroller/docking_with_P_controller.m
@@ -0,0 +1,409 @@
+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('Pose01_08_16_1718.txt',1,0);
+Vel_Matrix_data_1 = csvread('Velocity01_08_16_1718.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('Pose01_08_16_1749.txt',1,0);
+Vel_Matrix_data_2 = csvread('Velocity01_08_16_1749.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('Pose01_08_16_1831.txt',1,0);
+Vel_Matrix_data_3 = csvread('Velocity01_08_16_1831.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];
+
+thresh_X = .001;
+theta = 0:.001:2*pi;
+
+% needs to be adjusted manually if docking platform is replaced!
+ref_x = .2;
+ref_y = .00903123;
+
+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);
+hold on
+plot(t_P_sec_data_2,Pose_X_data_2,'r');
+hold on
+plot(t_P_sec_data_3,Pose_X_data_3,'g');
+
+title('Marker X-axis');
+% xlabel('Time [sec]');
+ylabel('X [m]');
+grid on
+
+subplot(3,1,2);
+plot(t_P_sec_data_1,Pose_Y_data_1);
+hold on
+plot(t_P_sec_data_2,Pose_Y_data_2,'r');
+hold on
+plot(t_P_sec_data_3,Pose_Y_data_3,'g');
+
+title('Marker Y-axis');
+% xlabel('Time [sec]');
+ylabel('Y [m]');
+grid on
+
+subplot(3,1,3);
+plot(t_P_sec_data_1,Theta_data_1);
+hold on
+plot(t_P_sec_data_2,Theta_data_2,'r');
+hold on
+plot(t_P_sec_data_3,Theta_data_3,'g');
+
+title('Marker \theta-axis');
+xlabel('Time [sec]');
+ylabel('\theta [rad]');
+grid on
+
+% control signals
+figure;
+subplot(3,1,1);
+
+plot(t_V_sec_data_1,Vel_X_data_1,'LineWidth',1.2);
+hold on
+plot(t_V_sec_data_2,Vel_X_data_2,'r','LineWidth',1.2);
+hold on
+plot(t_V_sec_data_3,Vel_X_data_3,'g','LineWidth',1.2);
+
+title('Control Signal X-axis');
+% xlabel('Time [sec]');
+ylabel('V_x [m/s]');
+grid on
+% axis([0 46 -.01 .11]);
+
+subplot(3,1,2);
+plot(t_V_sec_data_1,Vel_Y_data_1,'LineWidth',1.2);
+hold on
+plot(t_V_sec_data_2,Vel_Y_data_2,'r','LineWidth',1.2);
+hold on
+plot(t_V_sec_data_3,Vel_Y_data_3,'g','LineWidth',1.2);
+
+title('Control Signal Y-axis');
+% xlabel('Time [sec]');
+ylabel('V_y [m/s]');
+grid on
+% axis([0 46 -.2 .1]);
+
+subplot(3,1,3);
+plot(t_V_sec_data_1,Omega_Z_data_1,'LineWidth',1.2);
+hold on
+plot(t_V_sec_data_2,Omega_Z_data_2,'r','LineWidth',1.2);
+hold on
+plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',1.2);
+
+title('Control Signal \theta-axis');
+xlabel('Time [sec]');
+ylabel('\omega [rad/s]');
+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(y_circle,x_circle,'k--','LineWidth',3.4)
+
+title('Docking Trajectroy (Whole area)');
+xlabel('Y [m]');
+ylabel('X [m]');
+axis([-.3 .4 .18 1.4]);
+grid on
+
+subplot(1,3,2);
+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(y_circle,x_circle,'k--','LineWidth',3.4);
+title('Docking Trajectroy (SM zone)');
+xlabel('Y [m]');
+ylabel('X [m]');
+axis([-.01 0.06 .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(y_circle,x_circle,'k--','LineWidth',3.4);
+title('Docking Trajectroy (reference area)');
+xlabel('Y [m]');
+ylabel('X [m]');
+axis([0.006 .012 .198 .204]);
+grid on
+legend('x_dot = 0.15','x_dot = 0.1','x_dot = 0.16','Reference Position');
+
+
+figure;
+subplot(2,1,1);
+plot(diff(TimeP_ros_data_1)/1e9,'g')
+hold on
+plot (diff(t_P_sec_data_1),'k--')
+title('Position sampling time');
+ylabel('Sampling time');
+legend('ROS calc.','Real time calc. [sec]','Orientation','horizontal');
+% grid on
+% axis([0 428 .05 .15]);
+
+subplot(2,1,2);
+plot(diff(TimeV_ros_data_1)/1e9,'g');
+hold on
+plot (diff(t_V_sec_data_1),'k--')
+title('Velocity sampling time');
+xlabel('samples');
+ylabel('Sampling time');
+% legend('ROS calc.','Ordinary calc.','Orientation','horizontal');
+% grid on
+% axis([0 428 -.005 .025]);
+% 
+% subplot(3,1,3);
+% plot(diff(TimeV_ros_data_1)/1e9,'g')
+% hold on
+% plot (diff(t_V_sec_data_1),'k--')
+% xlabel('samples');
+% ylabel('time step');
+% axis([150 250 0 .02]);
+
+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/Pose01_08_16_1624.txt b/Files_4_thesis/Pose01_08_16_1624.txt
new file mode 100644
index 0000000000000000000000000000000000000000..90614179e78db53f6b0c9ff17d96dcfe7bc8fc15
--- /dev/null
+++ b/Files_4_thesis/Pose01_08_16_1624.txt
@@ -0,0 +1,693 @@
+%time,field.position.x,field.position.y,field.position.z,field.orientation.x,field.orientation.y,field.orientation.z,field.orientation.w
+1470060646493284387,-0.0348434969783,0.329515367746,1.20000267029,-0.142450149336,0.0152604723114,0.780055196023,-0.609088634024
+1470060646606692278,-0.0347679965198,0.329148739576,1.19874870777,-0.157970864002,0.0168407083744,0.781128140698,-0.603821517071
+1470060646689248273,-0.0347800143063,0.3292350173,1.1988722086,-0.141507373614,0.0144558624697,0.780246037057,-0.609083584502
+1470060646768264282,-0.0347719304264,0.32918637991,1.19879221916,-0.15317288682,0.0160863632526,0.780693797199,-0.60563725998
+1470060646843967349,-0.0347719304264,0.32918637991,1.19879221916,-0.15317288682,0.0160863632526,0.780693797199,-0.60563725998
+1470060646919326689,-0.0347719304264,0.32918637991,1.19879221916,-0.15317288682,0.0160863632526,0.780693797199,-0.60563725998
+1470060646990070051,-0.0347719304264,0.32918637991,1.19879221916,-0.15317288682,0.0160863632526,0.780693797199,-0.60563725998
+1470060647068912676,-0.0347719304264,0.32918637991,1.19879221916,-0.15317288682,0.0160863632526,0.780693797199,-0.60563725998
+1470060647145463687,-0.0342899821699,0.32720965147,1.19037652016,-0.147310198605,0.0113113175964,0.780912344123,-0.606916526614
+1470060647217744474,-0.0331234559417,0.326238393784,1.19589221478,-0.269074969309,0.0279571120785,0.784570747952,-0.55791200223
+1470060647287685766,-0.0328135304153,0.316555410624,1.20011079311,-0.0844616806305,0.00985458529132,0.791308060426,-0.605475569415
+1470060647360857238,-0.0321245193481,0.304065972567,1.18768179417,-0.24198854379,0.0349923294039,0.79966830873,-0.54840466589
+1470060647435509972,-0.0326493903995,0.294985532761,1.19359397888,-0.181994951702,0.022634863984,0.789477080912,-0.585740078193
+1470060647513468662,-0.0322455093265,0.282091885805,1.15712046623,-0.256494060746,0.0320645801064,0.789867882345,-0.556139719805
+1470060647586872726,-0.0309214834124,0.283961564302,1.1671795845,-0.152032731913,0.0152651594715,0.776604452456,-0.611178000061
+1470060647661385423,-0.0299669783562,0.278130501509,1.14936923981,-0.278240942128,0.0287302581546,0.778975649718,-0.561207169891
+1470060647732628965,-0.0292807109654,0.274153620005,1.1390080452,-0.0775364368616,0.00778051986618,0.777361003313,-0.624209448021
+1470060647811792993,-0.0286037996411,0.269988745451,1.1274023056,-0.262451684871,0.0253503108051,0.775384955652,-0.573807150007
+1470060647886926363,-0.0276338551193,0.264761567116,1.11151754856,-0.100833449901,0.00969639628719,0.776264198454,-0.622215790123
+1470060647963554230,-0.0276617631316,0.256360888481,1.08459877968,-0.250426179976,0.0312595879456,0.782478317578,-0.569242697857
+1470060648041562520,-0.0271208081394,0.251927316189,1.07492959499,-0.298059010723,0.033050296717,0.779756048273,-0.549589855434
+1470060648116888882,-0.0264283213764,0.247889280319,1.06499052048,-0.179830440476,0.0182456562798,0.778724774277,-0.600762710754
+1470060648190303147,-0.0263395365328,0.245953202248,1.06356692314,-0.118999330709,0.0113771654564,0.772621383164,-0.623510960348
+1470060648269840843,-0.0263986308128,0.236910790205,1.03605151176,-0.16821774361,0.0160885154603,0.778584360597,-0.604359449201
+1470060648344740407,-0.0256810449064,0.232839852571,1.02420496941,-0.25608640411,0.0255991907904,0.779700713747,-0.570816285721
+1470060648418709420,-0.0251881703734,0.229996815324,1.01740443707,-0.124084467667,0.0122102639531,0.774999352632,-0.619540117957
+1470060648491374052,-0.0245249364525,0.226278528571,1.0061545372,-0.301009140613,0.0289147535776,0.772063697701,-0.558994705687
+1470060648568561581,-0.0237823072821,0.222696974874,0.995588243008,-0.161512204667,0.0151537384536,0.769197393165,-0.618077294763
+1470060648643738865,-0.0236665941775,0.220374137163,0.99111533165,-0.230939457276,0.0211673622981,0.765980842638,-0.599576732835
+1470060648718117945,-0.0235453452915,0.213892832398,0.96530175209,-0.297753236448,0.0302683121539,0.774064836815,-0.557898259426
+1470060648796041011,-0.0228326655924,0.209917291999,0.954941511154,-0.301363340612,0.0312449182931,0.770326715441,-0.561070979016
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diff --git a/Files_4_thesis/Pose01_08_16_1655.txt b/Files_4_thesis/Pose01_08_16_1655.txt
new file mode 100644
index 0000000000000000000000000000000000000000..76bcdbc83df7df8701b4519561c1c5dd4d4251aa
--- /dev/null
+++ b/Files_4_thesis/Pose01_08_16_1655.txt
@@ -0,0 +1,825 @@
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diff --git a/Files_4_thesis/Velocity01_08_16_1624.txt b/Files_4_thesis/Velocity01_08_16_1624.txt
new file mode 100644
index 0000000000000000000000000000000000000000..240514cee5eb1a3382559767758a7797bcb1833c
--- /dev/null
+++ b/Files_4_thesis/Velocity01_08_16_1624.txt
@@ -0,0 +1,692 @@
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diff --git a/Files_4_thesis/Velocity01_08_16_1655.txt b/Files_4_thesis/Velocity01_08_16_1655.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b897be59465ebf3049048f8ef94970ad66c10dbd
--- /dev/null
+++ b/Files_4_thesis/Velocity01_08_16_1655.txt
@@ -0,0 +1,824 @@
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+1470062886741316376,0.0045,0.0,0.0,0.0,0.0,0.0
+1470062886815294643,0.0045,0.0,0.0,0.0,0.0,0.0
+1470062886888227898,0.0045,0.0,0.0,0.0,0.0,0.0
+1470062886965837177,0.0045,0.0,0.0,0.0,0.0,0.0
+1470062887039960157,0.0045,0.0,0.0,0.0,0.0,0.0
+1470062887113074235,0.0045,0.0,0.0,0.0,0.0,0.0
+1470062887186078665,0.0045,0.0,0.0,0.0,0.0,0.0
+1470062887265270101,0.0045,0.0,0.0,0.0,0.0,0.0
+1470062887337206060,0.0045,0.0,0.0,0.0,0.0,0.0
+1470062887412674914,0.0,0.0,0.0,0.0,0.0,0.00181214949031
+1470062887489030958,0.0045,0.0,0.0,0.0,0.0,0.0
+1470062887565141897,0.0045,0.0,0.0,0.0,0.0,0.0
diff --git a/Files_4_thesis/docking_1.m b/Files_4_thesis/docking_1.m
index 2136ea08b732667d12cc152a97b1012dc88dda52..1437af9362ff493deb4d65e6b436d85dee9ffea3 100644
--- a/Files_4_thesis/docking_1.m
+++ b/Files_4_thesis/docking_1.m
@@ -5,6 +5,9 @@ clear all;
 
 % 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!!!
@@ -20,8 +23,8 @@ clear all;
 % theta-axis gains:
 % P = .08; I = 0; D = 0;
 
-Pose_Matrix_data_1 = csvread('Pose28_7_16_2024.txt',1,0);
-Vel_Matrix_data_1 = csvread('Velocity28_7_16_2024.txt',1,0);
+Pose_Matrix_data_1 = csvread('Pose01_08_16_1718.txt',1,0);
+Vel_Matrix_data_1 = csvread('Velocity01_08_16_1718.txt',1,0);
 
 % time in position
 TimeP_ros_data_1 = Pose_Matrix_data_1(:,1); % ros time, needs to be converted to sec...
@@ -50,8 +53,8 @@ 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('Pose18_7_16_1815.txt',1,0);
-Vel_Matrix_data_2 = csvread('Velocity18_7_16_1815.txt',1,0);
+Pose_Matrix_data_2 = csvread('Pose01_08_16_1749.txt',1,0);
+Vel_Matrix_data_2 = csvread('Velocity01_08_16_1749.txt',1,0);
 
 % time in position
 TimeP_ros_data_2 = Pose_Matrix_data_2(:,1); % ros time, needs to be converted to sec...
@@ -80,8 +83,8 @@ t_V_sec_data_2(:,size(t_V_sec_data_2,2)) = [];
 % theta-axis gains:
 % P = .08; I = 0; D = 0;
 
-Pose_Matrix_data_3 = csvread('Pose28_7_16_2130.txt',1,0);
-Vel_Matrix_data_3 = csvread('Velocity28_7_16_2130.txt',1,0);
+Pose_Matrix_data_3 = csvread('Pose01_08_16_1831.txt',1,0);
+Vel_Matrix_data_3 = csvread('Velocity01_08_16_1831.txt',1,0);
 
 % time in position
 TimeP_ros_data_3 = Pose_Matrix_data_3(:,1); % ros time, needs to be converted to sec...
@@ -160,8 +163,8 @@ thresh_X = .001;
 theta = 0:.001:2*pi;
 
 % needs to be adjusted manually if docking platform is replaced!
-ref_x = .19979;
-ref_y = .00903;
+ref_x = .2;
+ref_y = .00903123;
 
 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
@@ -320,8 +323,7 @@ plot(y_circle,x_circle,'k--','LineWidth',3.4)
 title('Docking Trajectroy (Whole area)');
 xlabel('Y [m]');
 ylabel('X [m]');
-axis([-.3 .2 .18 1.3]);
-% legend('Trajectory 1','Reference Position 1', 'Trajectory 2','Reference Position 2','Trajectory 3','Reference Position 3');
+axis([-.3 .4 .18 1.4]);
 grid on
 
 subplot(1,3,2);
@@ -335,7 +337,7 @@ plot(y_circle,x_circle,'k--','LineWidth',3.4);
 title('Docking Trajectroy (SM zone)');
 xlabel('Y [m]');
 ylabel('X [m]');
-% axis([-.08 0 .265 .355]);
+axis([-.01 0.06 .195 .32]);
 grid on
 
 subplot(1,3,3);
@@ -349,8 +351,10 @@ plot(y_circle,x_circle,'k--','LineWidth',3.4);
 title('Docking Trajectroy (reference area)');
 xlabel('Y [m]');
 ylabel('X [m]');
-% axis([-.04 -.03 .266 .269]);
+axis([0.006 .012 .198 .204]);
 grid on
+legend('x_dot = 0.15','x_dot = 0.1','x_dot = 0.16','Reference Position');
+
 
 figure;
 subplot(2,1,1);