
\section{Torque Commands}
%%%%%%%%%%%%%%%%%%%%%%%%%%
%torque contrl grafs
\begin{figure}[!hb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/_rampstep_torque1.csv}\rampsteptorquecsv
  
  \subfloat[Tensile Force.]{
  \tikzsetnextfilename{Grafs-First/Torque/rampsteptorque_force}
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.4\textwidth,
	  height=0.4\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\rampsteptorquecsv};    
	  %\legend{Actuation Force}
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
   \tikzsetnextfilename{Grafs-First/Torque/rampsteptorque_angle}
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.4\textwidth,
	  height=0.4\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\rampsteptorquecsv};    
	 % \legend{Angle}
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
%      \subfloat[Commanded torque.]{
%       \begin{tikzpicture}
% 	\begin{axis}[
% 	  %xmin = 0, ymin = 0,
% 	  %ymax = 10, xmax = 10,
% 	  %scale only axis,
% 	  %width=\linewidth,
% 	  width=0.4\textwidth,
% 	  height=0.4\textwidth,
% 	  font=\scriptsize,
% 	  xmajorgrids,
% 	  ymajorgrids,
% 	  xlabel = Time (s),
% 	  ylabel = Dynamixel units,
% 	  %ylabel style={overlay, anchor=north,},
% 	  %title style={yshift=1.5ex},
% 	  %title={Steady state chemical potential},
% 	  axis on top, % descriptions over filled area
% 	  legend pos=north east, % customize legend
% 	  ]
% 	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\rampsteptorquecsv};    
% 	 % \legend{Angle}
% 	\end{axis}
%       \end{tikzpicture}
%       %\label{subfigure:step_angle}
% } %subfloat
  
  \caption{Ramp step with torque control.}
  \label{graphic:rampsteptorque}
  
\end{figure}


\begin{figure}[!hb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/_ramp_torque1.csv}\ramptorquecsv
  
  \subfloat[Tensile Force.]{
  \tikzsetnextfilename{Grafs-First/Torque/ramptorque_force}
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.4\textwidth,
	  height=0.4\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\ramptorquecsv};    
	  %\legend{Actuation Force}
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
   \tikzsetnextfilename{Grafs-First/Torque/ramptorque_angle}
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.4\textwidth,
	  height=0.4\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\ramptorquecsv};    
	 % \legend{Angle}
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
%      \subfloat[Commanded torque.]{
%       \begin{tikzpicture}
% 	\begin{axis}[
% 	  %xmin = 0, ymin = 0,
% 	  %ymax = 10, xmax = 10,
% 	  %scale only axis,
% 	  %width=\linewidth,
% 	  width=0.4\textwidth,
% 	  height=0.4\textwidth,
% 	  font=\scriptsize,
% 	  xmajorgrids,
% 	  ymajorgrids,
% 	  xlabel = Time (s),
% 	  ylabel = Dynamixel units,
% 	  %ylabel style={overlay, anchor=north,},
% 	  %title style={yshift=1.5ex},
% 	  %title={Steady state chemical potential},
% 	  axis on top, % descriptions over filled area
% 	  legend pos=north east, % customize legend
% 	  ]
% 	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\ramptorquecsv};    
% 	 % \legend{Angle}
% 	\end{axis}
%       \end{tikzpicture}
%       %\label{subfigure:step_angle}
% } %subfloat
  
  \caption{Ramp with torque control.}
  \label{graphic:ramptorque}
  
\end{figure}


\begin{figure}[!hb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/_sawtooth_torque1.csv}\sawtoothtorquecsv
  
  \subfloat[Tensile Force.]{
  \tikzsetnextfilename{Grafs-First/Torque/sawtoothtorque_force}
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.4\textwidth,
	  height=0.4\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\sawtoothtorquecsv};    
	  %\legend{Actuation Force}
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
   \tikzsetnextfilename{Grafs-First/Torque/sawtoothtorque_angle}
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.4\textwidth,
	  height=0.4\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\sawtoothtorquecsv};    
	 % \legend{Angle}
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
%      \subfloat[Commanded torque.]{
%       \begin{tikzpicture}
% 	\begin{axis}[
% 	  %xmin = 0, ymin = 0,
% 	  %ymax = 10, xmax = 10,
% 	  %scale only axis,
% 	  %width=\linewidth,
% 	  width=0.4\textwidth,
% 	  height=0.4\textwidth,
% 	  font=\scriptsize,
% 	  xmajorgrids,
% 	  ymajorgrids,
% 	  xlabel = Time (s),
% 	  ylabel = Dynamixel units,
% 	  %ylabel style={overlay, anchor=north,},
% 	  %title style={yshift=1.5ex},
% 	  %title={Steady state chemical potential},
% 	  axis on top, % descriptions over filled area
% 	  legend pos=north east, % customize legend
% 	  ]
% 	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\sawtoothtorquecsv};    
% 	 % \legend{Angle}
% 	\end{axis}
%       \end{tikzpicture}
%       %\label{subfigure:step_angle}
% } %subfloat
  
  \caption{Sawtooth with torque control.}
  \label{graphic:sawtoothtorque}
  
\end{figure}


\begin{figure}[!hb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/_triangle_torque1.csv}\triangletorquecsv
  
  \subfloat[Tensile Force.]{
  \tikzsetnextfilename{Grafs-First/Torque/triangletorque_force}
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.4\textwidth,
	  height=0.4\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\triangletorquecsv};    
	  %\legend{Actuation Force}
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
   \tikzsetnextfilename{Grafs-First/Torque/triangletorque_angle}
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.4\textwidth,
	  height=0.4\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\triangletorquecsv};    
	 % \legend{Angle}
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
%      \subfloat[Commanded torque.]{
%       \begin{tikzpicture}
% 	\begin{axis}[
% 	  %xmin = 0, ymin = 0,
% 	  %ymax = 10, xmax = 10,
% 	  %scale only axis,
% 	  %width=\linewidth,
% 	  width=0.4\textwidth,
% 	  height=0.4\textwidth,
% 	  font=\scriptsize,
% 	  xmajorgrids,
% 	  ymajorgrids,
% 	  xlabel = Time (s),
% 	  ylabel = Dynamixel units,
% 	  %ylabel style={overlay, anchor=north,},
% 	  %title style={yshift=1.5ex},
% 	  %title={Steady state chemical potential},
% 	  axis on top, % descriptions over filled area
% 	  legend pos=north east, % customize legend
% 	  ]
% 	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\triangletorquecsv};    
% 	 % \legend{Angle}
% 	\end{axis}
%       \end{tikzpicture}
%       %\label{subfigure:step_angle}
% } %subfloat
  
  \caption{Triangle with torque control.}
  \label{graphic:triangletorque}
  
\end{figure}
%torque contrl grafs
%%%%%%%%%%%%%%%%%%%%%%%%%%

\section{Velocity Commands}

%%%%%%%%%%%%%%%%%%%%%%%%%%
%vel contrl grafs
\begin{figure}[!hb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/_rampstep_vel1.csv}\rampstepvelcsv
  
  \subfloat[Tensile Force.]{
  \tikzsetnextfilename{Grafs-First/Vel/rampstepvelocity_force}
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.4\textwidth,
	  height=0.4\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\rampstepvelcsv};    
	  %\legend{Actuation Force}
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
   \tikzsetnextfilename{Grafs-First/Vel/rampstepvelocity_angle}
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.4\textwidth,
	  height=0.4\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\rampstepvelcsv};    
	 % \legend{Angle}
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
%      \subfloat[Commanded velocity.]{
%       \begin{tikzpicture}
% 	\begin{axis}[
% 	  %xmin = 0, ymin = 0,
% 	  %ymax = 10, xmax = 10,
% 	  %scale only axis,
% 	  %width=\linewidth,
% 	  width=0.4\textwidth,
% 	  height=0.4\textwidth,
% 	  font=\scriptsize,
% 	  xmajorgrids,
% 	  ymajorgrids,
% 	  xlabel = Time (s),
% 	  ylabel = Dynamixel units,
% 	  %ylabel style={overlay, anchor=north,},
% 	  %title style={yshift=1.5ex},
% 	  %title={Steady state chemical potential},
% 	  axis on top, % descriptions over filled area
% 	  legend pos=north east, % customize legend
% 	  ]
% 	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\rampstepvelcsv};    
% 	 % \legend{Angle}
% 	\end{axis}
%       \end{tikzpicture}
%       %\label{subfigure:step_angle}
% } %subfloat
  
  \caption{Ramp step with velocity control.}
  \label{graphic:rampstepvelocity}
  
\end{figure}


\begin{figure}[!hb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/_ramp_vel1.csv}\rampvelcsv
  
  \subfloat[Tensile Force.]{
  \tikzsetnextfilename{Grafs-First/Vel/rampvel_force}
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.4\textwidth,
	  height=0.4\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\rampvelcsv};    
	  %\legend{Actuation Force}
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
   \tikzsetnextfilename{Grafs-First/Vel/rampvel_angle}
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.4\textwidth,
	  height=0.4\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\rampvelcsv};    
	 % \legend{Angle}
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
%      \subfloat[Commanded velocity.]{
%       \begin{tikzpicture}
% 	\begin{axis}[
% 	  %xmin = 0, ymin = 0,
% 	  %ymax = 10, xmax = 10,
% 	  %scale only axis,
% 	  %width=\linewidth,
% 	  width=0.4\textwidth,
% 	  height=0.4\textwidth,
% 	  font=\scriptsize,
% 	  xmajorgrids,
% 	  ymajorgrids,
% 	  xlabel = Time (s),
% 	  ylabel = Dynamixel units,
% 	  %ylabel style={overlay, anchor=north,},
% 	  %title style={yshift=1.5ex},
% 	  %title={Steady state chemical potential},
% 	  axis on top, % descriptions over filled area
% 	  legend pos=north east, % customize legend
% 	  ]
% 	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\rampvelcsv};    
% 	 % \legend{Angle}
% 	\end{axis}
%       \end{tikzpicture}
%       %\label{subfigure:step_angle}
% } %subfloat
  
  \caption{Ramp with velocity control.}
  \label{graphic:rampvel}
  
\end{figure}


\begin{figure}[!hb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/_sawtooth_vel1.csv}\sawtoothvelcsv
  
  \subfloat[Tensile Force.]{
  \tikzsetnextfilename{Grafs-First/Vel/sawtoothvelocity_force}
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.4\textwidth,
	  height=0.4\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\sawtoothvelcsv};    
	  %\legend{Actuation Force}
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
   \tikzsetnextfilename{Grafs-First/Vel/sawtoothvelocity_angle}
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.4\textwidth,
	  height=0.4\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\sawtoothvelcsv};    
	 % \legend{Angle}
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
%      \subfloat[Commanded velocity.]{
%       \begin{tikzpicture}
% 	\begin{axis}[
% 	  %xmin = 0, ymin = 0,
% 	  %ymax = 10, xmax = 10,
% 	  %scale only axis,
% 	  %width=\linewidth,
% 	  width=0.4\textwidth,
% 	  height=0.4\textwidth,
% 	  font=\scriptsize,
% 	  xmajorgrids,
% 	  ymajorgrids,
% 	  xlabel = Time (s),
% 	  ylabel = Dynamixel units,
% 	  %ylabel style={overlay, anchor=north,},
% 	  %title style={yshift=1.5ex},
% 	  %title={Steady state chemical potential},
% 	  axis on top, % descriptions over filled area
% 	  legend pos=north east, % customize legend
% 	  ]
% 	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\sawtoothvelcsv};    
% 	 % \legend{Angle}
% 	\end{axis}
%       \end{tikzpicture}
%       %\label{subfigure:step_angle}
% } %subfloat
  
  \caption{Sawtooth with velocity control.}
  \label{graphic:sawtoothvelocity}
  
\end{figure}


\begin{figure}[!hb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/_triangle_vel1.csv}\trianglevelcsv
  
  \subfloat[Tensile Force.]{
  \tikzsetnextfilename{Grafs-First/Vel/trianglevel_force}
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.4\textwidth,
	  height=0.4\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\trianglevelcsv};    
	  %\legend{Actuation Force}
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
   \tikzsetnextfilename{Grafs-First/Vel/trianglevel_angle}
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.4\textwidth,
	  height=0.4\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\trianglevelcsv};    
	 % \legend{Angle}
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
%      \subfloat[Commanded velocity.]{
%       \begin{tikzpicture}
% 	\begin{axis}[
% 	  %xmin = 0, ymin = 0,
% 	  %ymax = 10, xmax = 10,
% 	  %scale only axis,
% 	  %width=\linewidth,
% 	  width=0.4\textwidth,
% 	  height=0.4\textwidth,
% 	  font=\scriptsize,
% 	  xmajorgrids,
% 	  ymajorgrids,
% 	  xlabel = Time (s),
% 	  ylabel = Dynamixel units,
% 	  %ylabel style={overlay, anchor=north,},
% 	  %title style={yshift=1.5ex},
% 	  %title={Steady state chemical potential},
% 	  axis on top, % descriptions over filled area
% 	  legend pos=north east, % customize legend
% 	  ]
% 	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\trianglevelcsv};    
% 	 % \legend{Angle}
% 	\end{axis}
%       \end{tikzpicture}
%       %\label{subfigure:step_angle}
% } %subfloat
  
  \caption{Triangle with velocity control.}
  \label{graphic:trianglevel}
  
\end{figure}
%vel contrl grafs
%%%%%%%%%%%%%%%%%%%%%%%%%%

\section{Position Commands}

%%%%%%%%%%%%%%%%%%%%%%%%%%
% pos contrl grafs
\begin{figure}[!hb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/_rampstep_pos1.csv}\rampstepposcsv
  
  \subfloat[Tensile Force.]{
  \tikzsetnextfilename{Grafs-First/Pos/rampstepposition_force}
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.4\textwidth,
	  height=0.4\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\rampstepposcsv};    
	  %\legend{Actuation Force}
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
   \tikzsetnextfilename{Grafs-First/Pos/rampstepposition_angle}
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.4\textwidth,
	  height=0.4\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\rampstepposcsv};    
	 % \legend{Angle}
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
%      \subfloat[Commanded position.]{
%       \begin{tikzpicture}
% 	\begin{axis}[
% 	  %xmin = 0, ymin = 0,
% 	  %ymax = 10, xmax = 10,
% 	  %scale only axis,
% 	  %width=\linewidth,
% 	  width=0.4\textwidth,
% 	  height=0.4\textwidth,
% 	  font=\scriptsize,
% 	  xmajorgrids,
% 	  ymajorgrids,
% 	  xlabel = Time (s),
% 	  ylabel = Dynamixel units,
% 	  %ylabel style={overlay, anchor=north,},
% 	  %title style={yshift=1.5ex},
% 	  %title={Steady state chemical potential},
% 	  axis on top, % descriptions over filled area
% 	  legend pos=north east, % customize legend
% 	  ]
% 	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\rampstepposcsv};    
% 	 % \legend{Angle}
% 	\end{axis}
%       \end{tikzpicture}
%       %\label{subfigure:step_angle}
% } %subfloat
  
  \caption{Ramp step with position control.}
  \label{graphic:rampstepposition}
  
\end{figure}


\begin{figure}[!hb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/_ramp_pos1.csv}\rampposcsv
  
  \subfloat[Tensile Force.]{
  \tikzsetnextfilename{Grafs-First/Pos/rampposcsv_force}
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.4\textwidth,
	  height=0.4\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\rampposcsv};    
	  %\legend{Actuation Force}
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
   \tikzsetnextfilename{Grafs-First/Pos/rampposcsv_angle}
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.4\textwidth,
	  height=0.4\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\rampposcsv};    
	 % \legend{Angle}
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
%      \subfloat[Commanded position.]{
%       \begin{tikzpicture}
% 	\begin{axis}[
% 	  %xmin = 0, ymin = 0,
% 	  %ymax = 10, xmax = 10,
% 	  %scale only axis,
% 	  %width=\linewidth,
% 	  width=0.4\textwidth,
% 	  height=0.4\textwidth,
% 	  font=\scriptsize,
% 	  xmajorgrids,
% 	  ymajorgrids,
% 	  xlabel = Time (s),
% 	  ylabel = Dynamixel units,
% 	  %ylabel style={overlay, anchor=north,},
% 	  %title style={yshift=1.5ex},
% 	  %title={Steady state chemical potential},
% 	  axis on top, % descriptions over filled area
% 	  legend pos=north east, % customize legend
% 	  ]
% 	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\rampposcsv};    
% 	 % \legend{Angle}
% 	\end{axis}
%       \end{tikzpicture}
%       %\label{subfigure:step_angle}
% } %subfloat
  
  \caption{Ramp with position control.}
  \label{graphic:rampposcsv}
  
\end{figure}


\begin{figure}[!hb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/_sawtooth_pos1.csv}\sawtoothposcsv
  
  \subfloat[Tensile Force.]{
  \tikzsetnextfilename{Grafs-First/Pos/sawtoothposition_force}
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.4\textwidth,
	  height=0.4\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\sawtoothposcsv};    
	  %\legend{Actuation Force}
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
   \tikzsetnextfilename{Grafs-First/Pos/sawtoothposition_angle}
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.4\textwidth,
	  height=0.4\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\sawtoothposcsv};    
	 % \legend{Angle}
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
%      \subfloat[Commanded position.]{
%       \begin{tikzpicture}
% 	\begin{axis}[
% 	  %xmin = 0, ymin = 0,
% 	  %ymax = 10, xmax = 10,
% 	  %scale only axis,
% 	  %width=\linewidth,
% 	  width=0.4\textwidth,
% 	  height=0.4\textwidth,
% 	  font=\scriptsize,
% 	  xmajorgrids,
% 	  ymajorgrids,
% 	  xlabel = Time (s),
% 	  ylabel = Dynamixel units,
% 	  %ylabel style={overlay, anchor=north,},
% 	  %title style={yshift=1.5ex},
% 	  %title={Steady state chemical potential},
% 	  axis on top, % descriptions over filled area
% 	  legend pos=north east, % customize legend
% 	  ]
% 	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\sawtoothposcsv};    
% 	 % \legend{Angle}
% 	\end{axis}
%       \end{tikzpicture}
%       %\label{subfigure:step_angle}
% } %subfloat
  
  \caption{Sawtooth with position control.}
  \label{graphic:sawtoothposition}
  
\end{figure}


\begin{figure}[!hb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/_triangle_pos1.csv}\triangleposcsv
  
  \subfloat[Tensile Force.]{
  \tikzsetnextfilename{Grafs-First/Pos/triangleposition_force}
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.4\textwidth,
	  height=0.4\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\triangleposcsv};    
	  %\legend{Actuation Force}
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
   \tikzsetnextfilename{Grafs-First/Pos/triangleposition_angle}
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.4\textwidth,
	  height=0.4\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\triangleposcsv};    
	 % \legend{Angle}
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
%      \subfloat[Commanded position.]{
%       \begin{tikzpicture}
% 	\begin{axis}[
% 	  %xmin = 0, ymin = 0,
% 	  %ymax = 10, xmax = 10,
% 	  %scale only axis,
% 	  %width=\linewidth,
% 	  width=0.4\textwidth,
% 	  height=0.4\textwidth,
% 	  font=\scriptsize,
% 	  xmajorgrids,
% 	  ymajorgrids,
% 	  xlabel = Time (s),
% 	  ylabel = Dynamixel units,
% 	  %ylabel style={overlay, anchor=north,},
% 	  %title style={yshift=1.5ex},
% 	  %title={Steady state chemical potential},
% 	  axis on top, % descriptions over filled area
% 	  legend pos=north east, % customize legend
% 	  ]
% 	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\triangleposcsv};    
% 	 % \legend{Angle}
% 	\end{axis}
%       \end{tikzpicture}
%       %\label{subfigure:step_angle}
% } %subfloat
  
  \caption{Triangle with position control.}
  \label{graphic:triangleposition}
  
\end{figure}
% pos contrl grafs
%%%%%%%%%%%%%%%%%%%%%%%%%%