     Temps  Consigne  Position  Commande   Courant  Vit. Axe    Moteur
        ms    degrs    degrs     Volts        mA     rad/s     rad/s
         0       2.0       2.2       2.4        50      0.00         0
        10       2.0       2.1      -0.8       100     -0.16         0
        40       2.3       2.0       3.9       350      0.14        10
        62       2.9       2.1       9.5      1550      0.19        53
        84       3.7       3.2       6.1       650      0.48        53
       106       4.8       4.0       9.8      1000      0.47        66
       128       6.5       5.8       8.4       900      0.57        73
       159       7.7       7.1       7.8       950      0.66        71
       181       9.0       8.2       9.8      1050      0.73        81
       203      10.3       9.5       9.5       750      0.75        79
       226      11.5      10.8       8.1       850      0.85        73
       248      12.8      12.0       9.8      1050      0.83        84
       270      14.0      13.4       7.2       750      0.86        78
       292      15.3      14.5       9.2      1100      0.91        86
       314      16.5      15.7      10.1       850      0.89        84
       336      17.8      17.1       8.4       900      0.97        82
       358      19.1      18.2      10.4      1050      0.92        95
       380      20.3      19.7       7.8       750      0.96        84
       402      21.6      20.8       9.8      1050      0.97        89
       424      22.8      22.1       9.2       950      0.96        98
       446      24.1      23.4       8.9       800      0.95        90
       468      25.3      24.5       9.8       900      0.97        91
       491      26.6      25.7      10.6       900      0.98        98
       513      27.9      27.0      10.1       900      0.99        99
       535      29.1      28.3       9.8       900      0.97        97
       557      30.4      29.6       9.5       850      1.01        96
       579      31.6      30.8      10.4       950      0.97       108
       601      32.9      32.2       8.7       700      0.99        97
       623      34.2      33.3      10.6      1100      1.03       109
       645      35.4      34.6      10.4       700      1.00       107
       667      36.7      36.0       7.8       750      0.99        94
       689      37.9      37.2       8.4      1050      1.00       108
       711      39.2      38.4       9.2       900      0.98       116
       733      40.4      39.7       8.9       700      0.97       103
       756      41.7      40.9       9.8       950      0.97       109
       778      43.0      42.1      10.4       850      0.98       115
       800      44.2      43.3      11.2       900      1.01       113
       822      45.5      44.6      10.9       900      0.99       117
       844      46.7      46.0       9.5       700      1.00       107
       866      48.0      47.2      10.1      1000      0.97       114
       888      49.3      48.4       9.8       800      1.01       120
       910      50.5      49.6      11.8      1000      1.00       129
       932      51.8      50.9      10.4       750      0.99       119
       954      53.0      52.2       9.8       850      0.98       119
       976      54.3      53.4      10.6       850      0.98       122
       998      55.5      54.6      11.5       900      0.99       127
      1021      56.8      55.9      11.2       900      0.98       128
      1043      58.1      57.2      10.6       800      1.01       122
      1065      59.3      58.4      11.5       850      0.99       126
      1087      60.6      59.8      10.1       850      1.00       125
      1109      61.8      61.0      10.9       800      1.00       127
      1131      63.1      62.2      10.4       900      0.99       128
      1153      64.4      63.5      10.1       800      0.98       123
      1175      65.6      64.7      10.9       950      0.97       130
      1197      66.9      65.9      11.8       850      1.01       129
      1219      68.1      67.1      12.3      1050      1.00       140
      1241      69.4      68.5      10.9       700      0.98       130
      1263      70.6      69.8      10.6       900      0.98       127
      1286      71.9      71.0      11.5       850      0.99       133
      1308      73.2      72.2      12.0      1050      1.01       140
      1330      74.4      73.5      11.8       900      0.97       138
      1352      75.7      74.8      10.4       650      0.99       125
      1374      76.9      75.9      12.3       950      0.99       138
      1396      78.2      77.2      11.8       800      0.98       138
      1418      79.5      78.5      11.5       900      1.05       136
      1440      80.7      79.7      12.3       850      0.97       140
      1462      82.0      81.3       8.7       800      1.02       136
      1484      83.2      82.3      11.5       850      0.97       138
      1506      84.5      83.7      10.1       750      0.99       135
      1528      85.7      84.8      12.0       950      0.97       144
      1551      86.9      86.0      10.1       650      0.91       131
      1573      88.0      87.2       8.9       600      0.83       110
      1595      88.8      88.2       8.1       500      0.77        85
      1617      89.4      88.8       7.0       450      0.63        66
      1639      89.7      89.4       2.7       150      0.51        30
      1661      89.7      89.6       0.8       100      0.41         4
      1683      89.7      89.6       0.8       100      0.33         1
      1705      89.7      89.6       0.8       100      0.27         1
      1727      89.7      89.6       0.8       100      0.22         1
      1749      89.7      89.6       0.8       100      0.19         1
      1771      89.7      89.6       0.8       100      0.13         1
      1793      89.7      89.7      -0.2       100      0.13         1
      1815      89.7      89.6       0.8       100      0.08         1
      1838      89.7      89.7      -0.2       100      0.09         0
      1860      89.7      89.6       0.8       100      0.05         1
      1882      89.7      89.7      -0.2       100      0.05         0
      1904      89.7      89.6       0.8       100      0.03         0
      1926      89.7      89.6       0.8       100      0.03         0
      1948      89.7      89.6       0.8       100      0.02         1
      1970      89.7      89.6       0.8       100      0.00         0
      1992      89.7      89.6       0.8       100      0.00         1
