close all
clear all

size=14;
norm=45;

m1=load('traject=-70+70#T=075#M=m42#kp000kd000#t_pos_vel_curr_posTh_velTh.txt');
m2=load('traject=-70+70#T=075#M=m42#kp015kd030#t_pos_vel_curr_posTh_velTh.txt');

figure(1);
axes('fontsize',size);
plot(m1(:,2),m1(:,4)/norm,'bx',m2(:,2),m2(:,4)/norm,'rx','linewidth',2);
axis([-100 100 -0.25 1.001])
grid on
xlabel('Position (degrees)','fontsize',size);
ylabel('Current (normalized)','fontsize',size)
legend('Open loop','Closed loop','location','SouthWest');

