package Systems;
public class GeneratedMotionProfile {
public static final int kNumPoints[] = { 201, 201, 201, 201, 431 };
// Position (rotations) Velocity (RPM) Duration (ms)
public static double [][][]Points = new double[][][]{
{
// Motion: forward one revolution in 2.5 s
{0,0,10},
{1.38778E-18,0.01927412,10},
{3.21235E-06,0.077066707,10},
{1.60568E-05,0.173288649,10},
{4.49382E-05,0.307791579,10},
{9.62368E-05,0.480368104,10},
{0.000176298,0.690752123,10},
{0.000291424,0.938619239,10},
{0.00044786,1.223587258,10},
{0.000651791,1.545216782,10},
{0.000909327,1.903011879,10},
{0.001226496,2.296420858,10},
{0.001609233,2.724837108,10},
{0.002063372,3.187600044,10},
{0.002594639,3.683996119,10},
{0.003208638,4.213259925,10},
{0.003910848,4.774575377,10},
{0.004706611,5.367076966,10},
{0.005601124,5.989851099,10},
{0.006599432,6.641937503,10},
{0.007706422,7.322330707,10},
{0.00892681,8.029981595,10},
{0.010265141,8.763799021,10},
{0.011725774,9.522651491,10},
{0.013312882,10.30536891,10},
{0.015030444,11.11074438,10},
{0.016882235,11.93753608,10},
{0.018871824,12.78446915,10},
{0.021002569,13.65023769,10},
{0.023277608,14.53350673,10},
{0.02569986,15.43291435,10},
{0.028272012,16.34707371,10},
{0.030996524,17.27457527,10},
{0.03387562,18.21398887,10},
{0.036911285,19.163866,10},
{0.040105263,20.12274203,10},
{0.043459053,21.08913844,10},
{0.046973909,22.06156511,10},
{0.050650837,23.03852264,10},
{0.054490591,24.01850462,10},
{0.058493675,25,10},
{0.062660341,25.98149538,10},
{0.066990591,26.96147736,10},
{0.07148417,27.93843489,10},
{0.076140576,28.91086156,10},
{0.080959053,29.87725797,10},
{0.085938596,30.836134,10},
{0.091077952,31.78601113,10},
{0.09637562,32.72542473,10},
{0.101829858,33.65292629,10},
{0.107438679,34.56708565,10},
{0.11319986,35.46649327,10},
{0.119110942,36.34976231,10},
{0.125169235,37.21553085,10},
{0.131371824,38.06246392,10},
{0.137715568,38.88925562,10},
{0.144197111,39.69463109,10},
{0.150812882,40.47734851,10},
{0.157559107,41.23620098,10},
{0.164431807,41.9700184,10},
{0.17142681,42.67766929,10},
{0.178539755,43.3580625,10},
{0.185766099,44.0101489,10},
{0.193101124,44.63292303,10},
{0.200539944,45.22542462,10},
{0.208077515,45.78674007,10},
{0.215708638,46.31600388,10},
{0.223427972,46.81239996,10},
{0.231230039,47.27516289,10},
{0.239109233,47.70357914,10},
{0.247059829,48.09698812,10},
{0.255075994,48.45478322,10},
{0.263151791,48.77641274,10},
{0.271281193,49.06138076,10},
{0.27945809,49.30924788,10},
{0.287676298,49.5196319,10},
{0.29592957,49.69220842,10},
{0.304211605,49.82671135,10},
{0.312516057,49.92293329,10},
{0.320836546,49.98072588,10},
{0.329166667,50,10},
{0.3375,50,10},
{0.345833333,50,10},
{0.354166667,50,10},
{0.3625,50,10},
{0.370833333,50,10},
{0.379166667,50,10},
{0.3875,50,10},
{0.395833333,50,10},
{0.404166667,50,10},
{0.4125,50,10},
{0.420833333,50,10},
{0.429166667,50,10},
{0.4375,50,10},
{0.445833333,50,10},
{0.454166667,50,10},
{0.4625,50,10},
{0.470833333,50,10},
{0.479166667,50,10},
{0.4875,50,10},
{0.495833333,50,10},
{0.504166667,50,10},
{0.5125,50,10},
{0.520833333,50,10},
{0.529166667,50,10},
{0.5375,50,10},
{0.545833333,50,10},
{0.554166667,50,10},
{0.5625,50,10},
{0.570833333,50,10},
{0.579166667,50,10},
{0.5875,50,10},
{0.595833333,50,10},
{0.604166667,50,10},
{0.6125,50,10},
{0.620833333,50,10},
{0.629166667,50,10},
{0.6375,50,10},
{0.645833333,50,10},
{0.654166667,50,10},
{0.6625,50,10},
{0.670833333,49.98072591,10},
{0.679163454,49.92293335,10},
{0.687483943,49.82671143,10},
{0.695788395,49.69220853,10},
{0.70407043,49.51963203,10},
{0.712323702,49.30924803,10},
{0.72054191,49.06138094,10},
{0.728718807,48.77641295,10},
{0.736848209,48.45478345,10},
{0.744924006,48.09698838,10},
{0.752940171,47.70357942,10},
{0.760890767,47.2751632,10},
{0.768769961,46.81240028,10},
{0.776572028,46.31600423,10},
{0.784291362,45.78674045,10},
{0.791922485,45.22542502,10},
{0.799460056,44.63292345,10},
{0.806898877,44.01014934,10},
{0.814233902,43.35806295,10},
{0.821460246,42.67766977,10},
{0.828573191,41.9700189,10},
{0.835568194,41.23620149,10},
{0.842440894,40.47734904,10},
{0.849187119,39.69463163,10},
{0.855802891,38.88925617,10},
{0.862284433,38.06246449,10},
{0.868628177,37.21553143,10},
{0.874830766,36.34976291,10},
{0.88088906,35.46649388,10},
{0.886800142,34.56708627,10},
{0.892561323,33.65292691,10},
{0.898170144,32.72542537,10},
{0.903624382,31.78601178,10},
{0.908922051,30.83613465,10},
{0.914061406,29.87725863,10},
{0.919040949,28.91086222,10},
{0.923859426,27.93843555,10},
{0.928515832,26.96147803,10},
{0.933009412,25.98149605,10},
{0.937339661,25.00000067,10},
{0.941506328,24.01850529,10},
{0.945509412,23.03852331,10},
{0.949349166,22.06156578,10},
{0.953026094,21.0891391,10},
{0.95654095,20.12274269,10},
{0.959894741,19.16386665,10},
{0.963088719,18.21398951,10},
{0.966124384,17.27457591,10},
{0.96900348,16.34707434,10},
{0.971727992,15.43291496,10},
{0.974300144,14.53350734,10},
{0.976722396,13.65023828,10},
{0.978997435,12.78446974,10},
{0.98112818,11.93753665,10},
{0.98311777,11.11074494,10},
{0.984969561,10.30536945,10},
{0.986687122,9.522652017,10},
{0.988274231,8.76379953,10},
{0.989734864,8.029982087,10},
{0.991073194,7.322331181,10},
{0.992293583,6.641937958,10},
{0.993400573,5.989851534,10},
{0.994398881,5.367077381,10},
{0.995293394,4.774575771,10},
{0.996089157,4.213260297,10},
{0.996791367,3.683996469,10},
{0.997405366,3.187600371,10},
{0.997936633,2.724837412,10},
{0.998390773,2.296421138,10},
{0.998773509,1.903012136,10},
{0.999090678,1.545217013,10},
{0.999348214,1.223587465,10},
{0.999552145,0.93861942,10},
{0.999708582,0.690752279,10},
{0.999823707,0.480368235,10},
{0.999903769,0.307791684,10},
{0.999955067,0.173288728,10},
{0.999983949,0.077066759,10},
{0.999996793,0.019274146,10},
{1.0,0,10}
},
{
// Motion: reverse one revolution in 2.5 s
{0,0,10},
{-1.38778E-18,-0.01927412,10},
{-3.21235E-06,-0.077066707,10},
{-1.60568E-05,-0.173288649,10},
{-4.49382E-05,-0.307791579,10},
{-9.62368E-05,-0.480368104,10},
{-0.000176298,-0.690752123,10},
{-0.000291424,-0.938619239,10},
{-0.00044786,-1.223587258,10},
{-0.000651791,-1.545216782,10},
{-0.000909327,-1.903011879,10},
{-0.001226496,-2.296420858,10},
{-0.001609233,-2.724837108,10},
{-0.002063372,-3.187600044,10},
{-0.002594639,-3.683996119,10},
{-0.003208638,-4.213259925,10},
{-0.003910848,-4.774575377,10},
{-0.004706611,-5.367076966,10},
{-0.005601124,-5.989851099,10},
{-0.006599432,-6.641937503,10},
{-0.007706422,-7.322330707,10},
{-0.00892681,-8.029981595,10},
{-0.010265141,-8.763799021,10},
{-0.011725774,-9.522651491,10},
{-0.013312882,-10.30536891,10},
{-0.015030444,-11.11074438,10},
{-0.016882235,-11.93753608,10},
{-0.018871824,-12.78446915,10},
{-0.021002569,-13.65023769,10},
{-0.023277608,-14.53350673,10},
{-0.02569986,-15.43291435,10},
{-0.028272012,-16.34707371,10},
{-0.030996524,-17.27457527,10},
{-0.03387562,-18.21398887,10},
{-0.036911285,-19.163866,10},
{-0.040105263,-20.12274203,10},
{-0.043459053,-21.08913844,10},
{-0.046973909,-22.06156511,10},
{-0.050650837,-23.03852264,10},
{-0.054490591,-24.01850462,10},
{-0.058493675,-25,10},
{-0.062660341,-25.98149538,10},
{-0.066990591,-26.96147736,10},
{-0.07148417,-27.93843489,10},
{-0.076140576,-28.91086156,10},
{-0.080959053,-29.87725797,10},
{-0.085938596,-30.836134,10},
{-0.091077952,-31.78601113,10},
{-0.09637562,-32.72542473,10},
{-0.101829858,-33.65292629,10},
{-0.107438679,-34.56708565,10},
{-0.11319986,-35.46649327,10},
{-0.119110942,-36.34976231,10},
{-0.125169235,-37.21553085,10},
{-0.131371824,-38.06246392,10},
{-0.137715568,-38.88925562,10},
{-0.144197111,-39.69463109,10},
{-0.150812882,-40.47734851,10},
{-0.157559107,-41.23620098,10},
{-0.164431807,-41.9700184,10},
{-0.17142681,-42.67766929,10},
{-0.178539755,-43.3580625,10},
{-0.185766099,-44.0101489,10},
{-0.193101124,-44.63292303,10},
{-0.200539944,-45.22542462,10},
{-0.208077515,-45.78674007,10},
{-0.215708638,-46.31600388,10},
{-0.223427972,-46.81239996,10},
{-0.231230039,-47.27516289,10},
{-0.239109233,-47.70357914,10},
{-0.247059829,-48.09698812,10},
{-0.255075994,-48.45478322,10},
{-0.263151791,-48.77641274,10},
{-0.271281193,-49.06138076,10},
{-0.27945809,-49.30924788,10},
{-0.287676298,-49.5196319,10},
{-0.29592957,-49.69220842,10},
{-0.304211605,-49.82671135,10},
{-0.312516057,-49.92293329,10},
{-0.320836546,-49.98072588,10},
{-0.329166667,-50,10},
{-0.3375,-50,10},
{-0.345833333,-50,10},
{-0.354166667,-50,10},
{-0.3625,-50,10},
{-0.370833333,-50,10},
{-0.379166667,-50,10},
{-0.3875,-50,10},
{-0.395833333,-50,10},
{-0.404166667,-50,10},
{-0.4125,-50,10},
{-0.420833333,-50,10},
{-0.429166667,-50,10},
{-0.4375,-50,10},
{-0.445833333,-50,10},
{-0.454166667,-50,10},
{-0.4625,-50,10},
{-0.470833333,-50,10},
{-0.479166667,-50,10},
{-0.4875,-50,10},
{-0.495833333,-50,10},
{-0.504166667,-50,10},
{-0.5125,-50,10},
{-0.520833333,-50,10},
{-0.529166667,-50,10},
{-0.5375,-50,10},
{-0.545833333,-50,10},
{-0.554166667,-50,10},
{-0.5625,-50,10},
{-0.570833333,-50,10},
{-0.579166667,-50,10},
{-0.5875,-50,10},
{-0.595833333,-50,10},
{-0.604166667,-50,10},
{-0.6125,-50,10},
{-0.620833333,-50,10},
{-0.629166667,-50,10},
{-0.6375,-50,10},
{-0.645833333,-50,10},
{-0.654166667,-50,10},
{-0.6625,-50,10},
{-0.670833333,-49.98072591,10},
{-0.679163454,-49.92293335,10},
{-0.687483943,-49.82671143,10},
{-0.695788395,-49.69220853,10},
{-0.70407043,-49.51963203,10},
{-0.712323702,-49.30924803,10},
{-0.72054191,-49.06138094,10},
{-0.728718807,-48.77641295,10},
{-0.736848209,-48.45478345,10},
{-0.744924006,-48.09698838,10},
{-0.752940171,-47.70357942,10},
{-0.760890767,-47.2751632,10},
{-0.768769961,-46.81240028,10},
{-0.776572028,-46.31600423,10},
{-0.784291362,-45.78674045,10},
{-0.791922485,-45.22542502,10},
{-0.799460056,-44.63292345,10},
{-0.806898877,-44.01014934,10},
{-0.814233902,-43.35806295,10},
{-0.821460246,-42.67766977,10},
{-0.828573191,-41.9700189,10},
{-0.835568194,-41.23620149,10},
{-0.842440894,-40.47734904,10},
{-0.849187119,-39.69463163,10},
{-0.855802891,-38.88925617,10},
{-0.862284433,-38.06246449,10},
{-0.868628177,-37.21553143,10},
{-0.874830766,-36.34976291,10},
{-0.88088906,-35.46649388,10},
{-0.886800142,-34.56708627,10},
{-0.892561323,-33.65292691,10},
{-0.898170144,-32.72542537,10},
{-0.903624382,-31.78601178,10},
{-0.908922051,-30.83613465,10},
{-0.914061406,-29.87725863,10},
{-0.919040949,-28.91086222,10},
{-0.923859426,-27.93843555,10},
{-0.928515832,-26.96147803,10},
{-0.933009412,-25.98149605,10},
{-0.937339661,-25.00000067,10},
{-0.941506328,-24.01850529,10},
{-0.945509412,-23.03852331,10},
{-0.949349166,-22.06156578,10},
{-0.953026094,-21.0891391,10},
{-0.95654095,-20.12274269,10},
{-0.959894741,-19.16386665,10},
{-0.963088719,-18.21398951,10},
{-0.966124384,-17.27457591,10},
{-0.96900348,-16.34707434,10},
{-0.971727992,-15.43291496,10},
{-0.974300144,-14.53350734,10},
{-0.976722396,-13.65023828,10},
{-0.978997435,-12.78446974,10},
{-0.98112818,-11.93753665,10},
{-0.98311777,-11.11074494,10},
{-0.984969561,-10.30536945,10},
{-0.986687122,-9.522652017,10},
{-0.988274231,-8.76379953,10},
{-0.989734864,-8.029982087,10},
{-0.991073194,-7.322331181,10},
{-0.992293583,-6.641937958,10},
{-0.993400573,-5.989851534,10},
{-0.994398881,-5.367077381,10},
{-0.995293394,-4.774575771,10},
{-0.996089157,-4.213260297,10},
{-0.996791367,-3.683996469,10},
{-0.997405366,-3.187600371,10},
{-0.997936633,-2.724837412,10},
{-0.998390773,-2.296421138,10},
{-0.998773509,-1.903012136,10},
{-0.999090678,-1.545217013,10},
{-0.999348214,-1.223587465,10},
{-0.999552145,-0.93861942,10},
{-0.999708582,-0.690752279,10},
{-0.999823707,-0.480368235,10},
{-0.999903769,-0.307791684,10},
{-0.999955067,-0.173288728,10},
{-0.999983949,-0.077066759,10},
{-0.999996793,-0.019274146,10},
{-1.0,0,10}
},
{
// motion: forward 5 revs in 2.5 s
{0,0,10},
{6.93889E-18,0.096370598,10},
{1.60618E-05,0.385333533,10},
{8.0284E-05,0.866443245,10},
{0.000224691,1.538957897,10},
{0.000481184,2.401840521,10},
{0.000881491,3.453760615,10},
{0.001457118,4.693096193,10},
{0.0022393,6.117936291,10},
{0.003258956,7.726083908,10},
{0.004546637,9.515059397,10},
{0.00613248,11.48210429,10},
{0.008046164,13.62418554,10},
{0.010316862,15.93800022,10},
{0.012973195,18.41998059,10},
{0.016043192,21.06629963,10},
{0.019554242,23.87287688,10},
{0.023533055,26.83538483,10},
{0.028005619,29.9492555,10},
{0.032997162,33.20968751,10},
{0.03853211,36.61165354,10},
{0.044634052,40.14990798,10},
{0.051325703,43.8189951,10},
{0.058628869,47.61325745,10},
{0.066564412,51.52684455,10},
{0.075152219,55.55372192,10},
{0.084411173,59.68768041,10},
{0.09435912,63.92234576,10},
{0.105012844,68.25118843,10},
{0.116388042,72.66753364,10},
{0.128499298,77.16457173,10},
{0.14136006,81.73536857,10},
{0.154982621,86.37287634,10},
{0.1693781,91.06994433,10},
{0.184556424,95.81933001,10},
{0.200526313,100.6137102,10},
{0.217295265,105.4456922,10},
{0.234869547,110.3078256,10},
{0.253254184,115.1926132,10},
{0.272452953,120.0925231,10},
{0.292468374,125,10},
{0.313301707,129.9074769,10},
{0.334952953,134.8073868,10},
{0.357420851,139.6921744,10},
{0.38070288,144.5543078,10},
{0.404795265,149.3862898,10},
{0.429692979,154.18067,10},
{0.455389758,158.9300557,10},
{0.4818781,163.6271237,10},
{0.509149288,168.2646314,10},
{0.537193393,172.8354283,10},
{0.565999298,177.3324664,10},
{0.595554709,181.7488116,10},
{0.625846177,186.0776542,10},
{0.65685912,190.3123196,10},
{0.68857784,194.4462781,10},
{0.720985553,198.4731555,10},
{0.754064412,202.3867425,10},
{0.787795536,206.1810049,10},
{0.822159036,209.850092,10},
{0.857134052,213.3883465,10},
{0.892698776,216.7903125,10},
{0.928830495,220.0507445,10},
{0.965505619,223.1646152,10},
{1.002699722,226.1271231,10},
{1.040387575,228.9337004,10},
{1.078543192,231.5800194,10},
{1.117139862,234.0619998,10},
{1.156150195,236.3758145,10},
{1.195546164,238.5178957,10},
{1.235299147,240.4849406,10},
{1.27537997,242.2739161,10},
{1.315758956,243.8820637,10},
{1.356405967,245.3069038,10},
{1.397290451,246.5462394,10},
{1.438381491,247.5981595,10},
{1.479647851,248.4610421,10},
{1.521058025,249.1335568,10},
{1.562580284,249.6146665,10},
{1.604182728,249.9036294,10},
{1.645833333,250,10},
{1.6875,250,10},
{1.729166667,250,10},
{1.770833333,250,10},
{1.8125,250,10},
{1.854166667,250,10},
{1.895833333,250,10},
{1.9375,250,10},
{1.979166667,250,10},
{2.020833333,250,10},
{2.0625,250,10},
{2.104166667,250,10},
{2.145833333,250,10},
{2.1875,250,10},
{2.229166667,250,10},
{2.270833333,250,10},
{2.3125,250,10},
{2.354166667,250,10},
{2.395833333,250,10},
{2.4375,250,10},
{2.479166667,250,10},
{2.520833333,250,10},
{2.5625,250,10},
{2.604166667,250,10},
{2.645833333,250,10},
{2.6875,250,10},
{2.729166667,250,10},
{2.770833333,250,10},
{2.8125,250,10},
{2.854166667,250,10},
{2.895833333,250,10},
{2.9375,250,10},
{2.979166667,250,10},
{3.020833333,250,10},
{3.0625,250,10},
{3.104166667,250,10},
{3.145833333,250,10},
{3.1875,250,10},
{3.229166667,250,10},
{3.270833333,250,10},
{3.3125,250,10},
{3.354166667,249.9036295,10},
{3.395817272,249.6146667,10},
{3.437419716,249.1335571,10},
{3.478941976,248.4610426,10},
{3.520352149,247.5981601,10},
{3.561618509,246.5462402,10},
{3.602709549,245.3069047,10},
{3.643594034,243.8820647,10},
{3.684241044,242.2739173,10},
{3.724620031,240.4849419,10},
{3.764700854,238.5178971,10},
{3.804453837,236.375816,10},
{3.843849806,234.0620014,10},
{3.88286014,231.5800212,10},
{3.92145681,228.9337022,10},
{3.959612427,226.1271251,10},
{3.997300281,223.1646172,10},
{4.034494384,220.0507467,10},
{4.071169509,216.7903148,10},
{4.107301228,213.3883488,10},
{4.142865953,209.8500945,10},
{4.177840968,206.1810074,10},
{4.21220447,202.3867452,10},
{4.245935594,198.4731582,10},
{4.279014453,194.4462809,10},
{4.311422167,190.3123224,10},
{4.343140887,186.0776572,10},
{4.37415383,181.7488146,10},
{4.404445299,177.3324694,10},
{4.434000711,172.8354314,10},
{4.462806616,168.2646346,10},
{4.490850722,163.6271268,10},
{4.51812191,158.9300589,10},
{4.544610253,154.1806733,10},
{4.570307032,149.3862931,10},
{4.595204747,144.5543111,10},
{4.619297132,139.6921778,10},
{4.642579162,134.8073901,10},
{4.66504706,129.9074802,10},
{4.686698307,125.0000033,10},
{4.707531641,120.0925265,10},
{4.727547062,115.1926165,10},
{4.746745831,110.3078289,10},
{4.76513047,105.4456955,10},
{4.782704752,100.6137134,10},
{4.799473704,95.81933326,10},
{4.815443593,91.06994755,10},
{4.830621918,86.37287953,10},
{4.845017398,81.73537171,10},
{4.85863996,77.16457482,10},
{4.871500722,72.66753669,10},
{4.883611978,68.25119141,10},
{4.894987177,63.92234868,10},
{4.905640902,59.68768327,10},
{4.915588849,55.5537247,10},
{4.924847803,51.52684726,10},
{4.933435611,47.61326008,10},
{4.941371154,43.81899765,10},
{4.948674321,40.14991044,10},
{4.955365972,36.6116559,10},
{4.961467915,33.20968979,10},
{4.967002863,29.94925767,10},
{4.971994406,26.83538691,10},
{4.976466971,23.87287885,10},
{4.980445784,21.06630149,10},
{4.983956834,18.41998234,10},
{4.987026831,15.93800186,10},
{4.989683165,13.62418706,10},
{4.991953863,11.48210569,10},
{4.993867547,9.515060679,10},
{4.99545339,7.726085067,10},
{4.996741071,6.117937326,10},
{4.997760727,4.693097102,10},
{4.99854291,3.453761397,10},
{4.999118537,2.401841175,10},
{4.999518844,1.538958421,10},
{4.999775337,0.866443638,10},
{4.999919744,0.385333796,10},
{4.999983967,0.09637073,10},
{5,0,10}
},
{
// move forward 10 revs in 2.5 s
{0,8.32667E-14,10},
{1.38778E-17,0.192741196,10},
{3.21235E-05,0.770667066,10},
{0.000160568,1.73288649,10},
{0.000449382,3.077915794,10},
{0.000962368,4.803681043,10},
{0.001762982,6.90752123,10},
{0.002914235,9.386192387,10},
{0.004478601,12.23587258,10},
{0.006517913,15.45216782,10},
{0.009093274,19.03011879,10},
{0.012264961,22.96420858,10},
{0.016092329,27.24837108,10},
{0.020633724,31.87600044,10},
{0.025946391,36.83996119,10},
{0.032086384,42.13259925,10},
{0.039108484,47.74575377,10},
{0.04706611,53.67076966,10},
{0.056011238,59.89851099,10},
{0.065994323,66.41937503,10},
{0.077064219,73.22330707,10},
{0.089268104,80.29981595,10},
{0.102651406,87.63799021,10},
{0.117257738,95.22651491,10},
{0.133128824,103.0536891,10},
{0.150304439,111.1074438,10},
{0.168822346,119.3753608,10},
{0.188718239,127.8446915,10},
{0.210025688,136.5023769,10},
{0.232776084,145.3350673,10},
{0.256998595,154.3291435,10},
{0.282720119,163.4707371,10},
{0.309965242,172.7457527,10},
{0.338756201,182.1398887,10},
{0.369112849,191.63866,10},
{0.401052626,201.2274203,10},
{0.434590529,210.8913844,10},
{0.469739093,220.6156511,10},
{0.506508368,230.3852264,10},
{0.544905906,240.1850462,10},
{0.584936747,250,10},
{0.626603414,259.8149538,10},
{0.669905906,269.6147736,10},
{0.714841702,279.3843489,10},
{0.76140576,289.1086156,10},
{0.809590529,298.7725797,10},
{0.859385959,308.36134,10},
{0.910779516,317.8601113,10},
{0.963756201,327.2542473,10},
{1.018298575,336.5292629,10},
{1.074386786,345.6708565,10},
{1.131998595,354.6649327,10},
{1.191109417,363.4976231,10},
{1.251692355,372.1553085,10},
{1.313718239,380.6246392,10},
{1.377155679,388.8925562,10},
{1.441971105,396.9463109,10},
{1.508128824,404.7734851,10},
{1.575591071,412.3620098,10},
{1.644318073,419.700184,10},
{1.714268104,426.7766929,10},
{1.785397552,433.580625,10},
{1.85766099,440.101489,10},
{1.931011238,446.3292303,10},
{2.005399443,452.2542462,10},
{2.080775151,457.8674007,10},
{2.157086384,463.1600388,10},
{2.234279724,468.1239996,10},
{2.312300391,472.7516289,10},
{2.391092329,477.0357914,10},
{2.470598294,480.9698812,10},
{2.550759941,484.5478322,10},
{2.631517913,487.7641274,10},
{2.712811934,490.6138076,10},
{2.794580902,493.0924788,10},
{2.876762982,495.196319,10},
{2.959295702,496.9220842,10},
{3.042116049,498.2671135,10},
{3.125160568,499.2293329,10},
{3.208365457,499.8072588,10},
{3.291666667,500,10},
{3.375,500,10},
{3.458333333,500,10},
{3.541666667,500,10},
{3.625,500,10},
{3.708333333,500,10},
{3.791666667,500,10},
{3.875,500,10},
{3.958333333,500,10},
{4.041666667,500,10},
{4.125,500,10},
{4.208333333,500,10},
{4.291666667,500,10},
{4.375,500,10},
{4.458333333,500,10},
{4.541666667,500,10},
{4.625,500,10},
{4.708333333,500,10},
{4.791666667,500,10},
{4.875,500,10},
{4.958333333,500,10},
{5.041666667,500,10},
{5.125,500,10},
{5.208333333,500,10},
{5.291666667,500,10},
{5.375,500,10},
{5.458333333,500,10},
{5.541666667,500,10},
{5.625,500,10},
{5.708333333,500,10},
{5.791666667,500,10},
{5.875,500,10},
{5.958333333,500,10},
{6.041666667,500,10},
{6.125,500,10},
{6.208333333,500,10},
{6.291666667,500,10},
{6.375,500,10},
{6.458333333,500,10},
{6.541666667,500,10},
{6.625,500,10},
{6.708333333,499.8072591,10},
{6.791634543,499.2293335,10},
{6.874839432,498.2671143,10},
{6.957883951,496.9220853,10},
{7.040704299,495.1963203,10},
{7.123237019,493.0924803,10},
{7.205419099,490.6138094,10},
{7.287188067,487.7641295,10},
{7.368482089,484.5478345,10},
{7.449240061,480.9698838,10},
{7.529401708,477.0357942,10},
{7.608907674,472.751632,10},
{7.687699613,468.1240028,10},
{7.76572028,463.1600423,10},
{7.84291362,457.8674045,10},
{7.919224854,452.2542502,10},
{7.994600563,446.3292345,10},
{8.068988768,440.1014934,10},
{8.142339017,433.5806295,10},
{8.214602456,426.7766977,10},
{8.285731905,419.700189,10},
{8.355681937,412.3620149,10},
{8.424408939,404.7734904,10},
{8.491871188,396.9463163,10},
{8.558028907,388.8925617,10},
{8.622844334,380.6246449,10},
{8.686281775,372.1553143,10},
{8.74830766,363.4976291,10},
{8.808890599,354.6649388,10},
{8.868001422,345.6708627,10},
{8.925613232,336.5292691,10},
{8.981701444,327.2542537,10},
{9.036243819,317.8601178,10},
{9.089220506,308.3613465,10},
{9.140614063,298.7725863,10},
{9.190409494,289.1086222,10},
{9.238594265,279.3843555,10},
{9.285158324,269.6147803,10},
{9.330094121,259.8149605,10},
{9.373396614,250.0000067,10},
{9.415063282,240.1850529,10},
{9.455094124,230.3852331,10},
{9.493491663,220.6156578,10},
{9.530260939,210.891391,10},
{9.565409504,201.2274269,10},
{9.598947409,191.6386665,10},
{9.630887187,182.1398951,10},
{9.661243836,172.7457591,10},
{9.690034796,163.4707434,10},
{9.71727992,154.3291496,10},
{9.743001444,145.3350734,10},
{9.767223957,136.5023828,10},
{9.789974354,127.8446974,10},
{9.811281803,119.3753665,10},
{9.831177698,111.1074494,10},
{9.849695606,103.0536945,10},
{9.866871222,95.22652017,10},
{9.882742309,87.6379953,10},
{9.897348641,80.29982087,10},
{9.910731945,73.22331181,10},
{9.92293583,66.41937958,10},
{9.934005726,59.89851534,10},
{9.943988812,53.67077381,10},
{9.952933941,47.74575771,10},
{9.960891568,42.13260297,10},
{9.967913668,36.83996469,10},
{9.974053662,31.87600371,10},
{9.979366329,27.24837412,10},
{9.983907725,22.96421138,10},
{9.987735094,19.03012136,10},
{9.990906781,15.45217013,10},
{9.993482142,12.23587465,10},
{9.995521455,9.386194205,10},
{9.99708582,6.907522794,10},
{9.998237074,4.80368235,10},
{9.999037688,3.077916842,10},
{9.999550674,1.732887277,10},
{9.999839489,0.770667592,10},
{9.999967933,0.192741459,10},
{10.00000006,0,10}
},
{
// Complex motion profile #1 - move 20 revs out, pause, then move back
{0,0,10},
{2.77556E-17,0.385482392,10},
{6.42471E-05,1.541334132,10},
{0.000321136,3.465772979,10},
{0.000898765,6.155831589,10},
{0.001924737,9.607362085,10},
{0.003525964,13.81504246,10},
{0.005828471,18.77238477,10},
{0.008957202,24.47174516,10},
{0.013035826,30.90433563,10},
{0.018186549,38.06023759,10},
{0.024529921,45.92841715,10},
{0.032184658,54.49674216,10},
{0.041267448,63.75200088,10},
{0.051892781,73.67992237,10},
{0.064172769,84.2651985,10},
{0.078216968,95.49150754,10},
{0.09413222,107.3415393,10},
{0.112022476,119.797022,10},
{0.131988646,132.8387501,10},
{0.154128438,146.4466141,10},
{0.178536207,160.5996319,10},
{0.205302812,175.2759804,10},
{0.234515476,190.4530298,10},
{0.266257648,206.1073782,10},
{0.300608877,222.2148877,10},
{0.337644692,238.7507216,10},
{0.377436479,255.6893831,10},
{0.420051376,273.0047537,10},
{0.465552168,290.6701346,10},
{0.513997191,308.6582869,10},
{0.565440238,326.9414743,10},
{0.619930484,345.4915054,10},
{0.677512402,364.2797773,10},
{0.738225698,383.27732,10},
{0.802105251,402.4548406,10},
{0.869181058,421.7827688,10},
{0.939478186,441.2313023,10},
{1.013016737,460.7704528,10},
{1.089811812,480.3700925,10},
{1.169873494,500,10},
{1.253206827,519.6299075,10},
{1.339811812,539.2295472,10},
{1.429683403,558.7686977,10},
{1.52281152,578.2172312,10},
{1.619181058,597.5451594,10},
{1.718771918,616.72268,10},
{1.821559031,635.7202227,10},
{1.927512402,654.5084946,10},
{2.036597151,673.0585257,10},
{2.148773572,691.3417131,10},
{2.263997191,709.3298654,10},
{2.382218835,726.9952463,10},
{2.503384709,744.3106169,10},
{2.627436479,761.2492784,10},
{2.754311358,777.7851123,10},
{2.883942211,793.8926218,10},
{3.016257648,809.5469702,10},
{3.151182143,824.7240196,10},
{3.288636146,839.4003681,10},
{3.428536207,853.5533859,10},
{3.570795105,867.1612499,10},
{3.71532198,880.202978,10},
{3.862022476,892.6584607,10},
{4.010798886,904.5084925,10},
{4.161550302,915.7348015,10},
{4.314172769,926.3200776,10},
{4.468559448,936.2479991,10},
{4.624600781,945.5032578,10},
{4.782184658,954.0715828,10},
{4.941196588,961.9397624,10},
{5.101519882,969.0956644,10},
{5.263035826,975.5282548,10},
{5.425623868,981.2276152,10},
{5.589161804,986.1849575,10},
{5.753525964,990.3926379,10},
{5.918591404,993.8441684,10},
{6.084232098,996.534227,10},
{6.250321136,998.4586659,10},
{6.416730914,999.6145176,10},
{6.583333333,1000,10},
{6.75,1000,10},
{6.916666667,1000,10},
{7.083333333,1000,10},
{7.25,1000,10},
{7.416666667,1000,10},
{7.583333333,1000,10},
{7.75,1000,10},
{7.916666667,1000,10},
{8.083333333,1000,10},
{8.25,1000,10},
{8.416666667,1000,10},
{8.583333333,1000,10},
{8.75,1000,10},
{8.916666667,1000,10},
{9.083333333,1000,10},
{9.25,1000,10},
{9.416666667,1000,10},
{9.583333333,1000,10},
{9.75,1000,10},
{9.916666667,1000,10},
{10.08333333,1000,10},
{10.25,1000,10},
{10.41666667,1000,10},
{10.58333333,1000,10},
{10.75,1000,10},
{10.91666667,1000,10},
{11.08333333,1000,10},
{11.25,1000,10},
{11.41666667,1000,10},
{11.58333333,1000,10},
{11.75,1000,10},
{11.91666667,1000,10},
{12.08333333,1000,10},
{12.25,1000,10},
{12.41666667,1000,10},
{12.58333333,1000,10},
{12.75,1000,10},
{12.91666667,1000,10},
{13.08333333,1000,10},
{13.25,1000,10},
{13.41666667,999.6145181,10},
{13.58326909,998.4586669,10},
{13.74967886,996.5342286,10},
{13.9157679,993.8441705,10},
{14.0814086,990.3926405,10},
{14.24647404,986.1849607,10},
{14.4108382,981.2276189,10},
{14.57437613,975.528259,10},
{14.73696418,969.095669,10},
{14.89848012,961.9397675,10},
{15.05880342,954.0715885,10},
{15.21781535,945.5032639,10},
{15.37539923,936.2480057,10},
{15.53144056,926.3200846,10},
{15.68582724,915.7348089,10},
{15.83844971,904.5085003,10},
{15.98920113,892.658469,10},
{16.13797754,880.2029867,10},
{16.28467803,867.161259,10},
{16.42920491,853.5533953,10},
{16.57146381,839.4003779,10},
{16.71136387,824.7240298,10},
{16.84881788,809.5469807,10},
{16.98374238,793.8926326,10},
{17.11605781,777.7851235,10},
{17.24568867,761.2492898,10},
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