#include "testPidControllerData.hxx"

std::vector<PidControllerInput> pidControllerInputs = {
        { -68.086, 8.335},
        { -68.2036, 8.335},
        { -68.3595, 8.335},
        { -68.4833, 8.335},
        { -68.6045, 8.335},
        { -68.7263, 8.335},
        { -68.8489, 8.335},
        { -68.9724, 8.335},
        { -69.0967, 8.335},
        { -69.2219, 8.335},
        { -69.3478, 8.335},
        { -69.4746, 8.335},
        { -69.6021, 8.335},
        { -69.7304, 8.335},
        { -69.8595, 8.335},
        { -69.9891, 8.335},
        { -70.1194, 8.335},
        { -70.2503, 8.335},
        { -70.3817, 8.335},
        { -70.5136, 8.335},
        { -70.646, 8.335},
        { -70.7786, 8.335},
        { -70.9114, 8.335},
        { -71.0442, 8.335},
        { -71.1769, 8.335},
        { -71.3096, 8.335},
        { -71.4421, 8.335},
        { -71.5744, 8.335},
        { -71.7064, 8.335},
        { -71.8381, 8.335},
        { -71.9695, 8.335},
        { -72.1006, 8.335},
        { -72.2313, 8.335},
        { -72.3615, 8.335},
        { -72.4911, 8.335},
        { -72.6202, 8.335},
        { -72.7486, 8.335},
        { -72.8763, 8.335},
        { -73.0032, 8.335},
        { -73.1292, 8.335},
        { -73.2543, 8.335},
        { -73.3785, 8.335},
        { -73.5016, 8.335},
        { -73.6237, 8.335},
        { -73.7446, 8.335},
        { -73.8643, 8.335},
        { -73.9827, 8.335},
        { -74.0998, 8.335},
        { -74.2156, 8.335},
        { -74.3299, 8.335},
        { -74.4428, 8.335},
        { -74.5541, 8.335},
        { -74.6639, 8.335},
        { -74.7721, 8.335},
        { -74.8785, 8.335},
        { -74.9833, 8.335},
        { -75.0863, 8.335},
        { -75.1876, 8.335},
        { -75.287, 8.335},
        { -75.3845, 8.335},
        { -75.4801, 8.335},
        { -75.5738, 8.335},
        { -75.6655, 8.335},
        { -75.7552, 8.335},
        { -75.8429, 8.335},
        { -75.9285, 8.335},
        { -76.012, 8.335},
        { -76.0935, 8.335},
        { -76.1728, 8.335},
        { -76.2499, 8.335},
        { -76.3249, 8.335},
        { -76.3978, 8.335},
        { -76.4684, 8.335},
        { -76.5368, 8.335},
        { -76.6031, 8.335},
        { -76.6671, 8.335},
        { -76.7289, 8.335},
        { -76.7885, 8.335},
        { -76.8459, 8.335},
        { -76.9011, 8.335},
        { -76.9542, 8.335},
        { -77.005, 8.335},
        { -77.0537, 8.335},
        { -77.1002, 8.335},
        { -77.1446, 8.335},
        { -77.1868, 8.335},
        { -77.2268, 8.335},
        { -77.2647, 8.335},
        { -77.3005, 8.335},
        { -77.3342, 8.335},
        { -77.3659, 8.335},
        { -77.3955, 8.335},
        { -77.423, 8.335},
        { -77.4485, 8.335},
        { -77.472, 8.335},
        { -77.4936, 8.335},
        { -77.5131, 8.335},
        { -77.5307, 8.335},
        { -77.5464, 8.335},
        { -77.5602, 8.335},
        { -77.5721, 8.335},
        { -77.5821, 8.335},
        { -77.5904, 8.335},
        { -77.5969, 8.335},
        { -77.6017, 8.335},
        { -77.6047, 8.335},
        { -77.6061, 8.335},
        { -77.6058, 8.335},
        { -77.604, 8.335},
        { -77.6006, 8.335},
        { -77.5957, 8.335},
        { -77.5893, 8.335},
        { -77.5814, 8.335},
        { -77.5721, 8.335},
        { -77.5615, 8.335},
        { -77.5495, 8.335},
        { -77.5362, 8.335},
        { -77.5217, 8.335},
        { -77.506, 8.335},
        { -77.489, 8.335},
        { -77.4709, 8.335},
        { -77.4517, 8.335},
        { -77.4314, 8.335},
        { -77.4102, 8.335},
        { -77.3878, 8.335},
        { -77.3646, 8.335},
        { -77.3404, 8.335},
        { -77.3153, 8.335},
        { -77.2893, 8.335},
        { -77.2626, 8.335},
        { -77.235, 8.335},
        { -77.2067, 8.335},
        { -77.1777, 8.335},
        { -77.148, 8.335},
        { -77.1176, 8.335},
        { -77.0866, 8.335},
        { -77.0551, 8.335},
        { -77.0229, 8.335},
        { -76.9903, 8.335},
        { -76.9571, 8.335},
        { -76.9235, 8.335},
        { -76.8895, 8.335},
        { -76.855, 8.335},
        { -76.8202, 8.335},
        { -76.785, 8.335},
        { -76.7496, 8.335},
        { -76.7138, 8.335},
        { -76.6777, 8.335},
        { -76.6414, 8.335},
        { -76.605, 8.335},
        { -76.5683, 8.335},
        { -76.5314, 8.335},
        { -76.4945, 8.335},
        { -76.4574, 8.335},
        { -76.4202, 8.335},
        { -76.3828, 8.335},
        { -76.3449, 8.335},
        { -76.3065, 8.335},
        { -76.2675, 8.335},
        { -76.2281, 8.335},
        { -76.1883, 8.335},
        { -76.148, 8.335},
        { -76.1073, 8.335},
        { -76.0663, 8.335},
        { -76.0249, 8.335},
        { -75.9832, 8.335},
        { -75.9412, 8.335},
        { -75.899, 8.335},
        { -75.8566, 8.335},
        { -75.8139, 8.335},
        { -75.7711, 8.335},
        { -75.7281, 8.335},
        { -75.6851, 8.335},
        { -75.642, 8.335},
        { -75.5989, 8.335},
        { -75.5559, 8.335},
        { -75.5129, 8.335},
        { -75.47, 8.335},
        { -75.4271, 8.335},
        { -75.3844, 8.335},
        { -75.3419, 8.335},
        { -75.2994, 8.335},
        { -75.2572, 8.335},
        { -75.2152, 8.335},
        { -75.1734, 8.335},
        { -75.1316, 8.335},
        { -75.09, 8.335},
        { -75.0484, 8.335},
        { -75.0069, 8.335},
        { -74.9656, 8.335},
        { -74.9245, 8.335},
        { -74.8836, 8.335},
        { -74.8429, 8.335},
        { -74.8024, 8.335},
        { -74.7621, 8.335},
        { -74.7222, 8.335},
        { -74.6826, 8.335},
        { -74.6433, 8.335},
        { -74.6044, 8.335},
        { -74.5659, 8.335},
        { -74.5277, 8.335},
        { -74.4899, 8.335},
        { -74.4526, 8.335},
        { -74.4156, 8.335},
        { -74.379, 8.335},
        { -74.3428, 8.335},
        { -74.3071, 8.335},
        { -74.2717, 8.335},
        { -74.2368, 8.335},
        { -74.2023, 8.335},
        { -74.1683, 8.335},
        { -74.1347, 8.335},
        { -74.1015, 8.335},
        { -74.0687, 8.335},
        { -74.0364, 8.335},
        { -74.0044, 8.335},
        { -73.9728, 8.335},
        { -73.9417, 8.335},
        { -73.911, 8.335},
        { -73.8806, 8.335},
        { -73.8507, 8.335},
        { -73.8212, 8.335},
        { -73.792, 8.335},
        { -73.7632, 8.335},
        { -73.7348, 8.335},
        { -73.7067, 8.335},
        { -73.6789, 8.335},
        { -73.6516, 8.335},
        { -73.6245, 8.335},
        { -73.5978, 8.335},
        { -73.5714, 8.335},
        { -73.5452, 8.335},
        { -73.5194, 8.335},
        { -73.4938, 8.335},
        { -73.4685, 8.335},
        { -73.4434, 8.335},
        { -73.4186, 8.335},
        { -73.394, 8.335},
        { -73.3696, 8.335},
        { -73.3454, 8.335},
        { -73.3214, 8.335},
        { -73.2975, 8.335},
        { -73.2738, 8.335},
        { -73.2504, 8.335},
        { -73.2271, 8.335},
        { -73.204, 8.335},
        { -73.181, 8.335},
        { -73.1582, 8.335},
        { -73.1355, 8.335},
        { -73.1129, 8.335},
        { -73.0903, 8.335},
        { -73.0678, 8.335},
        { -73.0454, 8.335},
        { -73.023, 8.335},
        { -73.0006, 8.335},
        { -72.9783, 8.335},
        { -72.956, 8.335},
        { -72.9335, 8.335},
        { -72.911, 8.335},
        { -72.8883, 8.335},
        { -72.8654, 8.335},
        { -72.8424, 8.335},
        { -72.8192, 8.335},
        { -72.7958, 8.335},
        { -72.7723, 8.335},
        { -72.7485, 8.335},
        { -72.7244, 8.335},
        { -72.7002, 8.335},
        { -72.6757, 8.335},
        { -72.651, 8.335},
        { -72.626, 8.335},
        { -72.6007, 8.335},
        { -72.5751, 8.335},
        { -72.5493, 8.335},
        { -72.5232, 8.335},
        { -72.4967, 8.335},
        { -72.4699, 8.335},
        { -72.4428, 8.335},
        { -72.4153, 8.335},
        { -72.3876, 8.335},
        { -72.3595, 8.335},
        { -72.331, 8.335},
        { -72.3022, 8.335},
        { -72.273, 8.335},
        { -72.2435, 8.335},
        { -72.2135, 8.335},
        { -72.1832, 8.335},
        { -72.1526, 8.335},
        { -72.1215, 8.335},
        { -72.0901, 8.335},
        { -72.0584, 8.335},
        { -72.0262, 8.335},
        { -71.9937, 8.335},
        { -71.9608, 8.335},
        { -71.9275, 8.335},
        { -71.8938, 8.335},
        { -71.8598, 8.335},
        { -71.8253, 8.335},
        { -71.7905, 8.335},
        { -71.7553, 8.335},
        { -71.7197, 8.335},
        { -71.6837, 8.335},
        { -71.6473, 8.335},
        { -71.6106, 8.335},
        { -71.5735, 8.335},
        { -71.536, 8.335},
        { -71.4981, 8.335},
        { -71.4598, 8.335},
        { -71.4211, 8.335},
        { -71.3821, 8.335},
        { -71.3427, 8.335},
        { -71.3029, 8.335},
        { -71.2628, 8.335},
        { -71.2223, 8.335},
        { -71.1815, 8.335},
        { -71.1403, 8.335},
        { -71.0988, 8.335},
        { -71.0569, 8.335},
        { -71.0147, 8.335},
        { -70.9722, 8.335},
        { -70.9293, 8.335},
        { -70.886, 8.335},
        { -70.8425, 8.335},
        { -70.7987, 8.335},
        { -70.7545, 8.335},
        { -70.7101, 8.335},
        { -70.6653, 8.335},
        { -70.6202, 8.335},
        { -70.5749, 8.335},
        { -70.5293, 8.335},
        { -70.4835, 8.335},
        { -70.4373, 8.335},
        { -70.391, 8.335},
        { -70.3443, 8.335},
        { -70.2975, 8.335},
        { -70.2504, 8.335},
        { -70.203, 8.335},
        { -70.1555, 8.335},
        { -70.1078, 8.335},
        { -70.0598, 8.335},
        { -70.0117, 8.335},
        { -69.9634, 8.335},
        { -69.915, 8.335},
        { -69.8664, 8.335},
        { -69.8175, 8.335},
        { -69.7685, 8.335},
        { -69.7194, 8.335},
        { -69.6701, 8.335},
        { -69.6207, 8.335},
        { -69.5712, 8.335},
        { -69.5215, 8.335},
        { -69.4717, 8.335},
        { -69.4218, 8.335},
        { -69.3718, 8.335},
        { -69.3216, 8.335},
        { -69.2714, 8.335},
        { -69.221, 8.335},
        { -69.1706, 8.335},
        { -69.1201, 8.335},
        { -69.0695, 8.335},
        { -69.0188, 8.335},
        { -68.9681, 8.335},
        { -68.9172, 8.335},
        { -68.8663, 8.335},
        { -68.8153, 8.335},
        { -68.7643, 8.335},
        { -68.7132, 8.335},
        { -68.6621, 8.335},
        { -68.6109, 8.335},
        { -68.5597, 8.335},
        { -68.5084, 8.335},
        { -68.4572, 8.335},
        { -68.4058, 8.335},
        { -68.3543, 8.335},
        { -68.3029, 8.335},
        { -68.2514, 8.335},
        { -68.1999, 8.335},
        { -68.1483, 8.335},
        { -68.0967, 8.335},
        { -68.0451, 8.335},
        { -67.9935, 8.335},
        { -67.9418, 8.335},
        { -67.8901, 8.335},
        { -67.8384, 8.335},
        { -67.7866, 8.335},
        { -67.7348, 8.335},
        { -67.683, 8.335},
        { -67.6312, 8.335},
        { -67.5794, 8.335},
        { -67.5275, 8.335},
        { -67.4756, 8.335},
        { -67.4236, 8.335},
        { -67.3716, 8.335},
        { -67.3196, 8.335},
        { -67.2676, 8.335},
        { -67.2155, 8.335},
        { -67.1635, 8.335},
        { -67.1113, 8.335},
        { -67.0592, 8.335},
        { -67.007, 8.335},
        { -66.9547, 8.335},
        { -66.9024, 8.335},
        { -66.8501, 8.335},
        { -66.7977, 8.335},
        { -66.7453, 8.335},
        { -66.6928, 8.335},
        { -66.6403, 8.335},
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        { -66.5351, 8.335},
        { -66.4824, 8.335},
        { -66.4296, 8.335},
        { -66.3768, 8.335},
        { -66.3239, 8.335},
        { -66.2709, 8.335},
        { -66.2178, 8.335},
        { -66.1647, 8.335},
        { -66.1116, 8.335},
        { -66.0583, 8.335},
        { -66.0049, 8.335},
        { -65.9515, 8.335},
        { -65.898, 8.335},
        { -65.8443, 8.335},
        { -65.7906, 8.335},
        { -65.7368, 8.335},
        { -65.683, 8.335},
        { -65.629, 8.335},
        { -65.5749, 8.335},
        { -65.5207, 8.335},
        { -65.4664, 8.335},
        { -65.4119, 8.335},
        { -65.3574, 8.335},
        { -65.3027, 8.335},
        { -65.2479, 8.335},
        { -65.1931, 8.335},
        { -65.1381, 8.335},
        { -65.083, 8.335},
        { -65.0277, 8.335},
        { -64.9723, 8.335},
        { -64.9167, 8.335},
        { -64.8611, 8.335},
        { -64.8053, 8.335},
        { -64.7494, 8.335},
        { -64.6933, 8.335},
        { -64.6371, 8.335},
        { -64.5808, 8.335},
        { -64.5243, 8.335},
        { -64.4676, 8.335},
        { -64.4108, 8.335},
        { -64.3539, 8.335},
        { -64.2968, 8.335},
        { -64.2395, 8.335},
        { -64.1821, 8.335},
        { -64.1246, 8.335},
        { -64.0669, 8.335},
        { -64.0091, 8.335},
        { -63.9511, 8.335},
        { -63.8929, 8.335},
        { -63.8345, 8.335},
        { -63.776, 8.335},
        { -63.7174, 8.335},
        { -63.6586, 8.335},
        { -63.5996, 8.335},
        { -63.5405, 8.335},
        { -63.4812, 8.335},
        { -63.4218, 8.335},
        { -63.3622, 8.335},
        { -63.3024, 8.335},
        { -63.2425, 8.335},
        { -63.1824, 8.335},
        { -63.1221, 8.335},
        { -63.0617, 8.335},
        { -63.0012, 8.335},
        { -62.9405, 8.335},
        { -62.8796, 8.335},
        { -62.8186, 8.335},
        { -62.7573, 8.335},
        { -62.696, 8.335},
        { -62.6344, 8.335},
        { -62.5728, 8.335},
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        { -62.4489, 8.335},
        { -62.3868, 8.335},
        { -62.3245, 8.335},
        { -62.2621, 8.335},
        { -62.1995, 8.335},
        { -62.1367, 8.335},
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        { -62.0107, 8.335},
        { -61.9475, 8.335},
        { -61.8841, 8.335},
        { -61.8206, 8.335},
        { -61.757, 8.335},
        { -61.6932, 8.335},
        { -61.6293, 8.335},
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        { -61.501, 8.335},
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        { -61.1779, 8.335},
        { -61.1129, 8.335},
        { -61.0477, 8.335},
        { -60.9824, 8.335},
        { -60.917, 8.335},
        { -60.8515, 8.335},
        { -60.7858, 8.335},
        { -60.72, 8.335},
        { -60.6541, 8.335},
        { -60.5881, 8.335},
        { -60.5219, 8.335},
        { -60.4557, 8.335},
        { -60.3893, 8.335},
        { -60.3228, 8.335},
        { -60.2562, 8.335},
        { -60.1894, 8.335},
        { -60.1226, 8.335},
        { -60.0556, 8.335},
        { -59.9885, 8.335},
        { -59.9214, 8.335},
        { -59.8541, 8.335},
        { -59.7867, 8.335},
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        { -59.5161, 8.335},
        { -59.4481, 8.335},
        { -59.3801, 8.335},
        { -59.312, 8.335},
        { -59.2438, 8.335},
        { -59.1755, 8.335},
        { -59.1071, 8.335},
        { -59.0386, 8.335},
        { -58.9699, 8.335},
        { -58.9012, 8.335},
        { -58.8324, 8.335},
        { -58.7635, 8.335},
        { -58.6945, 8.335},
        { -58.6254, 8.335},
        { -58.5562, 8.335},
        { -58.487, 8.335},
        { -58.4176, 8.335},
        { -58.3482, 8.335},
        { -58.2787, 8.335},
        { -58.2091, 8.335},
        { -58.1393, 8.335},
        { -58.0695, 8.335},
        { -57.9996, 8.335},
        { -57.9296, 8.335},
        { -57.8595, 8.335},
        { -57.7894, 8.335},
        { -57.7191, 8.335},
        { -57.6488, 8.335},
        { -57.5784, 8.335},
        { -57.5078, 8.335},
        { -57.4372, 8.335},
        { -57.3665, 8.335},
        { -57.2957, 8.335},
        { -57.2248, 8.335},
        { -57.1539, 8.335},
        { -57.0828, 8.335},
        { -57.0117, 8.335},
        { -56.9405, 8.335},
        { -56.8692, 8.335},
        { -56.7977, 8.335},
        { -56.7262, 8.335},
        { -56.6546, 8.335},
        { -56.5829, 8.335},
        { -56.5112, 8.335},
        { -56.4393, 8.335},
        { -56.3674, 8.335},
        { -56.2954, 8.335},
        { -56.2233, 8.335},
        { -56.1511, 8.335},
        { -56.0788, 8.335},
        { -56.0064, 8.335},
        { -55.9339, 8.335},
        { -55.8613, 8.335},
        { -55.7886, 8.335},
        { -55.7159, 8.335},
        { -55.6431, 8.335},
        { -55.5701, 8.335},
        { -55.4972, 8.335},
        { -55.4241, 8.335},
        { -55.3508, 8.335},
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};

std::vector<PidControllerOutput> pidControllerOutputs = {
        { -1},
        { 0.619054},
        { 0.785061},
        { 0.798172},
        { 0.794085},
        { 0.788043},
        { 0.781764},
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        { 0.697581},
        { 0.690965},
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        { 0.651196},
        { 0.644565},
        { 0.637939},
        { 0.631315},
        { 0.624693},
        { 0.618073},
        { 0.61146},
        { 0.604857},
        { 0.598267},
        { 0.591682},
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        { 0.578558},
        { 0.57202},
        { 0.565503},
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        { 0.55252},
        { 0.546065},
        { 0.539628},
        { 0.53322},
        { 0.526839},
        { 0.520488},
        { 0.514164},
        { 0.507869},
        { 0.501611},
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        { 0.489193},
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        { 0.476915},
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        { 0.464798},
        { 0.458801},
        { 0.452839},
        { 0.446926},
        { 0.441058},
        { 0.435232},
        { 0.429451},
        { 0.423718},
        { 0.418031},
        { 0.412391},
        { 0.406803},
        { 0.401264},
        { 0.395769},
        { 0.390331},
        { 0.384945},
        { 0.379606},
        { 0.374316},
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