function draw_Qvel(H)

globalVar;

sendServo(H,1,19,0,0,0,0,0,0);

return1 = 0;
i=0;
while (return1 ~= 1 || return2 ~= 2 || return3 ~= 3)
    i = i+1;
    [command,return1,return2,return3] = readServo(H);
    Qvel(1,i) = return1*256 + return2;
    temp_ret = return3;
    [command,return1,return2,return3] = readServo(H);
    Qvel(2,i) = temp_ret*256 + return1;
    Qvel(3,i) = return2*256 + return3;

    [command,return1,return2,return3] = readServo(H);
    t(1,i) = return1*256+return2;
end

N = i-1;
Qvel = Qvel(:,1:N)/100;
t = t(1,1:N);

figure
hold on
plot(t',Qvel','*')
xlabel('Tempo (ms)')
ylabel('Qvel (%)')
legend('Qvel serv8','Qvel serv7','Qvel serv6')
axis([t(1,1) max(t) 0 100])
grid on
hold off

end