close all
clear all

filenm = 'foo';

data = readtable(filenm);

t = data.Var1;
t = t-t(1);

TargTension = data.Var2;
MeasTension = data.Var3;
TorqueCmd = data.Var4;
TorqueAct = data.Var5;
RPM_Cmd = data.Var6;
RPM_Act= data.Var7;
SD_TorqueAct = data.Var8;
SD_RPM_Act = data.Var9;
SD_Pos = data.Var10;
PID_FF = data.Var11;
PID_P = data.Var12;
PID_I = data.Var13;
PID_D = data.Var14;
PID_Tf = data.Var15;
cmd_min = data.Var16;
cmd_max = data.Var17;


num_plots = 6;
figure
ah1 = subplot(num_plots,1,1)
plot(t,TargTension)
hold all
plot(t,MeasTension)
legend('Target Tension','Measured Tension');
ylabel('kg')

ah2 = subplot(num_plots,1,2)
plot(t,TorqueCmd);
hold all
plot(t,TorqueAct);
%plot(t,cmd_min,'k--');
%plot(t,cmd_max,'k--');
legend('Cmd Torque','Actual Torque');

ah3 = subplot(num_plots,1,3)
plot(t,RPM_Cmd)
hold all
plot(t,RPM_Act)
legend('Target RPM','Actual RPM');
ylabel('kg')

ah4 = subplot(num_plots,1,4)
plot(t,PID_P);
hold all;
plot(t,PID_I);
plot(t,PID_D);
plot(t,PID_Tf);
legend('P','I','D','Tf');

ah5 = subplot(num_plots,1,5)
plot(t,PID_FF);
legend('PID_FF)');

linkaxes([ah1 ah2 ah3 ah4 ah5],'x')