diff --git a/Files_4_thesis/Different_controllers/POSE_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt b/Files_4_thesis/Different_controllers/POSE_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0c7a8023d0b4e192f40a335802b684714176b7b1
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/POSE_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt
@@ -0,0 +1,481 @@
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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
deleted file mode 100644
index 7246677360ed4e9885b115aa4d108f87938a351d..0000000000000000000000000000000000000000
--- a/Files_4_thesis/Different_controllers/POSE_with_Py0.5_Iy0.001_Dy0.2ANDPt.08_It0_Dt0.txt
+++ /dev/null
@@ -1,440 +0,0 @@
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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
deleted file mode 100644
index be7a724a1e2078ea70099d02abcdf02ff3be26a2..0000000000000000000000000000000000000000
--- a/Files_4_thesis/Different_controllers/POSE_with_Py0.66_Iy0_Dy0.1ANDPt.08_It0_Dt0.txt
+++ /dev/null
@@ -1,497 +0,0 @@
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diff --git a/Files_4_thesis/Different_controllers/POSE_with_Py0.66_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt b/Files_4_thesis/Different_controllers/POSE_with_Py0.66_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..16a5c033eae39d2891ade38f8adde47ec1751898
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/POSE_with_Py0.66_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt
@@ -0,0 +1,592 @@
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diff --git a/Files_4_thesis/Different_controllers/POSE_with_Py0.86_Iy0_Dy0.002ANDPt0.08_It0_Dt0.txt b/Files_4_thesis/Different_controllers/POSE_with_Py0.86_Iy0_Dy0.002ANDPt0.08_It0_Dt0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..54d0035bc081308812cb16dbf8689955936b7c06
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/POSE_with_Py0.86_Iy0_Dy0.002ANDPt0.08_It0_Dt0.txt
@@ -0,0 +1,474 @@
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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_Dy0.1ANDPt0.08_It0_Dt0.txt
similarity index 100%
rename from Files_4_thesis/Different_controllers/POSE_with_Py0.86_Iy0_Dy0.1ANDPt.08_It0_Dt0.txt
rename to Files_4_thesis/Different_controllers/POSE_with_Py0.86_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt
diff --git a/Files_4_thesis/Different_controllers/VEL_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt b/Files_4_thesis/Different_controllers/VEL_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fdef06cae2f009e6026405b66536a0d0bec6e5f1
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/VEL_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt
@@ -0,0 +1,480 @@
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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
deleted file mode 100644
index b29177bfb16c84b78922f9c865abbee8dfc8460c..0000000000000000000000000000000000000000
--- a/Files_4_thesis/Different_controllers/VEL_with_Py0.5_Iy0.001_Dy0.2ANDPt.08_It0_Dt0.txt
+++ /dev/null
@@ -1,439 +0,0 @@
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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
deleted file mode 100644
index 0f4905ce08aa9c391e7e2681af5a90a63598e41f..0000000000000000000000000000000000000000
--- a/Files_4_thesis/Different_controllers/VEL_with_Py0.66_Iy0_Dy0.1ANDPt.08_It0_Dt0.txt
+++ /dev/null
@@ -1,496 +0,0 @@
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diff --git a/Files_4_thesis/Different_controllers/VEL_with_Py0.66_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt b/Files_4_thesis/Different_controllers/VEL_with_Py0.66_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8656d54b3f53697897c1874cfa00f7437adbfcd2
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/VEL_with_Py0.66_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt
@@ -0,0 +1,591 @@
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diff --git a/Files_4_thesis/Different_controllers/VEL_with_Py0.86_Iy0_Dy0.002ANDPt0.08_It0_Dt0.txt b/Files_4_thesis/Different_controllers/VEL_with_Py0.86_Iy0_Dy0.002ANDPt0.08_It0_Dt0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c0c33cb65a46e33d60a9afd9c589652e279d143a
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/VEL_with_Py0.86_Iy0_Dy0.002ANDPt0.08_It0_Dt0.txt
@@ -0,0 +1,473 @@
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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_Dy0.1ANDPt0.08_It0_Dt0.txt
similarity index 100%
rename from Files_4_thesis/Different_controllers/VEL_with_Py0.86_Iy0_Dy0.1ANDPt.08_It0_Dt0.txt
rename to Files_4_thesis/Different_controllers/VEL_with_Py0.86_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt
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..22542b32c5e9ec859e4c8da87dd064f80e83c93d
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/docking_with_PID_controller.asv
@@ -0,0 +1,470 @@
+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);
+
+% 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);
+
+% 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);
+
+% 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_Py0.86_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
+Vel_Matrix_data_4 = csvread('VEL_with_Py0.86_Iy0_Dy0.1ANDPt0.08_It0_Dt0.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)) = [];
+
+
+%% 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];
+
+%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(:,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_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];
+
+
+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);
+
+% data 3:
+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);
+
+
+%% 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');
+hold on
+plot(t_P_sec_data_4,Pose_X_data_4,'m');
+
+
+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');
+hold on
+plot(t_P_sec_data_4,Pose_Y_data_4,'m');
+
+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');
+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 = 0.86, 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' ,'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/Different_controllers/docking_with_PID_controller.m b/Files_4_thesis/Different_controllers/docking_with_PID_controller.m
index c34f0b5598aba808a6a15bb57007bdf3382462c8..737e979bcecc98536884c2b4ca047970a6290fa3 100644
--- a/Files_4_thesis/Different_controllers/docking_with_PID_controller.m
+++ b/Files_4_thesis/Different_controllers/docking_with_PID_controller.m
@@ -23,8 +23,8 @@ clear all;
 % 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);
+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);
 
 % time in position
 TimeP_ros_data_1 = Pose_Matrix_data_1(:,1); % ros time, needs to be converted to sec...
@@ -53,8 +53,9 @@ 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_Dy0.1ANDPt.08_It0_Dt0.txt',1,0);
-Vel_Matrix_data_2 = csvread('VEL_with_Py0.66_Iy0_Dy0.1ANDPt.08_It0_Dt0.txt',1,0);
+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);
+
 
 % time in position
 TimeP_ros_data_2 = Pose_Matrix_data_2(:,1); % ros time, needs to be converted to sec...
@@ -83,8 +84,8 @@ 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('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);
+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);
 
 % time in position
 TimeP_ros_data_3 = Pose_Matrix_data_3(:,1); % ros time, needs to be converted to sec...
@@ -104,6 +105,36 @@ TimeV_ros_data_3 = Vel_Matrix_data_3(:,1); % ros time, needs to be converted to
 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);
+
+% 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)) = [];
+
 
 %% Pose estimation
 
@@ -159,12 +190,30 @@ 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(:,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_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];
+
+
 thresh_X = .001;
 theta = 0:.001:2*pi;
 
 % needs to be adjusted manually if docking platform is replaced!
-ref_x = .2;
-ref_y = .00903123;
+ref_x = .2009;
+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
@@ -187,6 +236,11 @@ 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 3:
+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);
+
 
 %% Plots
 
@@ -209,6 +263,9 @@ 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');
+hold on
+plot(t_P_sec_data_4,Pose_X_data_4,'m');
+
 
 title('Marker X-axis');
 % xlabel('Time [sec]');
@@ -221,6 +278,8 @@ 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');
+hold on
+plot(t_P_sec_data_4,Pose_Y_data_4,'m');
 
 title('Marker Y-axis');
 % xlabel('Time [sec]');
@@ -233,6 +292,8 @@ hold on
 plot(t_P_sec_data_2,Theta_data_2,'r');
 hold on
 plot(t_P_sec_data_3,Theta_data_3,'g');
+hold on
+plot(t_P_sec_data_4,Theta_data_4,'m');
 
 title('Marker \theta-axis');
 xlabel('Time [sec]');
@@ -248,6 +309,8 @@ 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);
+hold on
+plot(t_V_sec_data_4,Vel_X_data_4,'m','LineWidth',1.2);
 
 title('Control Signal X-axis');
 % xlabel('Time [sec]');
@@ -261,6 +324,9 @@ 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);
+hold on
+plot(t_V_sec_data_4,Vel_Y_data_4,'m','LineWidth',1.2);
+
 
 title('Control Signal Y-axis');
 % xlabel('Time [sec]');
@@ -274,6 +340,8 @@ 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);
+hold on
+plot(t_V_sec_data_4,Omega_Z_data_4,'m','LineWidth',1.2);
 
 title('Control Signal \theta-axis');
 xlabel('Time [sec]');
@@ -318,7 +386,9 @@ 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)
+plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
+hold on
+plot(y_circle,x_circle,'k--','LineWidth',3.4);
 
 title('Docking Trajectroy (Whole area)');
 xlabel('Y [m]');
@@ -333,11 +403,14 @@ 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('Docking Trajectroy (SM zone)');
 xlabel('Y [m]');
 ylabel('X [m]');
-axis([-.01 0.06 .195 .32]);
+axis([-.01 0.045 .195 .32]);
 grid on
 
 subplot(1,3,3);
@@ -347,15 +420,18 @@ 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('Docking Trajectroy (reference area)');
 xlabel('Y [m]');
 ylabel('X [m]');
-axis([0.006 .012 .198 .204]);
+axis([0.0065 .01 .199 .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');
-
+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' ,'Reference Position');
 
+% sampling time
 figure;
 subplot(2,1,1);
 plot(diff(TimeP_ros_data_1)/1e9,'g')
@@ -364,8 +440,7 @@ 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]);
+axis([0 480 .05 .14]);
 
 subplot(2,1,2);
 plot(diff(TimeV_ros_data_1)/1e9,'g');
@@ -374,36 +449,27 @@ plot (diff(t_V_sec_data_1),'k--')
 title('Velocity sampling time');
 xlabel('samples');
 ylabel('Sampling time');
-% legend('ROS calc.','Ordinary calc.','Orientation','horizontal');
+axis([0 480 .05 .14]);
+
+% 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
-% 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--')
+% plot(diff(Theta_data_1));
+% title('\theta-Pose diff');
 % 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
+% ylabel('\theta difference [rad]');
+% grid on
\ No newline at end of file