load f0000.dat
load f0001.dat
load f0002.dat
load f0003.dat
load f0004.dat

hold off
plot( f0000(:,2) - f0000(990,2) )
hold on
plot( f0000(:,3) - f0000(990,3) )
plot( f0001(:,2) - f0001(990,2) )
plot( f0001(:,3) - f0001(990,3) )
plot( f0002(:,2) - f0002(990,2) )
plot( f0002(:,3) - f0002(990,3) )
plot( f0003(:,2) - f0003(990,2) )
plot( f0003(:,3) - f0003(990,3) )
plot( f0004(:,2) - f0004(990,2) )
plot( f0004(:,3) - f0004(990,3) )
title( "steps: positions" )
xlabel( "samples" )
ylabel( "encoder units" )
legend( "f0000l", "f0000r", "f0001l", "f0001r", "f0002l", "f0002r", "f0003l", "f0003r", "f0004l", "f0004r" )

hold off
plot( 256*(f0000(:,2) - f0000(990,2))/255 )
hold on
plot( 256*(f0000(:,3) - f0000(990,3))/255 )
plot( 2*(f0001(:,2) - f0001(990,2)) )
plot( 2*(f0001(:,3) - f0001(990,3)) )
plot( 4*(f0002(:,2) - f0002(990,2)) )
plot( 4*(f0002(:,3) - f0002(990,3)) )
plot( 8*(f0003(:,2) - f0003(990,2)) )
plot( 8*(f0003(:,3) - f0003(990,3)) )
plot( 16*(f0004(:,2) - f0004(990,2)) )
plot( 16*(f0004(:,3) - f0004(990,3)) )
title( "steps: positions normalized by 256/command" )
xlabel( "samples" )
ylabel( "encoder units" )
legend( "f0000l", "f0000r", "f0001l", "f0001r", "f0002l", "f0002r", "f0003l", "f0003r", "f0004l", "f0004r" )

hold off
plot( f0000(:,4) )
hold on
plot( f0000(:,5) )
plot( f0001(:,4) )
plot( f0001(:,5) )
plot( f0002(:,4) )
plot( f0002(:,5) )
plot( f0003(:,4) )
plot( f0003(:,5) )
plot( f0004(:,4) )
plot( f0004(:,5) )
title( "steps: velocities" )
xlabel( "samples" )
ylabel( "encoder units/second" )
legend( "f0000l", "f0000r", "f0001l", "f0001r", "f0002l", "f0002r", "f0003l", "f0003r", "f0004l", "f0004r" )

hold off
plot( 256*(f0000(:,4) - f0000(990,4))/255 )
hold on
plot( 256*(f0000(:,5) - f0000(990,5))/255 )
plot( 2*(f0001(:,4) - f0001(990,4)) )
plot( 2*(f0001(:,5) - f0001(990,5)) )
plot( 4*(f0002(:,4) - f0002(990,4)) )
plot( 4*(f0002(:,5) - f0002(990,5)) )
plot( 8*(f0003(:,4) - f0003(990,4)) )
plot( 8*(f0003(:,5) - f0003(990,5)) )
plot( 16*(f0004(:,4) - f0004(990,4)) )
plot( 16*(f0004(:,5) - f0004(990,5)) )
title( "steps: velocities normalized by 256/command" )
xlabel( "samples" )
ylabel( "encoder units/second" )
legend( "f0000l", "f0000r", "f0001l", "f0001r", "f0002l", "f0002r", "f0003l", "f0003r", "f0004l", "f0004r" )

