pid and joints n stuff

dat/lkneeExample.m

@@ -9,9 +9,11 @@ t = [0, 1, 2, 3, 4];
 p = [0, -18, -45, -18, 0];
 
 % generate graph lines
-querypts = 0:1/16:4;
-interpts = interp1(t, p, querypts, 'spline');
+querypts = 0:0.001:4;
+interpts = interp1(t, p, querypts, 'spline')';
+
+lkneeExampleRet = [querypts', interpts];
 
 % create graph
-figure
-plot(t, p,'o', querypts, interpts, ':.');
+%figure
+%plot(t, p,'o', querypts, interpts, ':.');