# remove jerks in p3dx movement

Hi,

when i use aria matlab interface to move my p3dx. it receives jerks during movement especially very visible delays and jerks while moving on turns. can any one help? here is the sample code

points = {{3000, 0}, {3000, 3000}, {0, 3000}, {0, 0}}
velMult = 0.5 distThresh = 350 % mm angleThresh = 0.5 % deg aria_init arrobot_connect() arrobot_resetpos() curPoint = 1 xpositions = []; ypositions = []; %fig = figure('NextPlot', 'add') %ph = newplot pointsMoved = 5;
disp 'Press control-c to end this script. Call arrobot_stop to stop the robot, call arrobot_disconnect to disconnect from the robot.' while (pointsMoved <= 4)

  % get current robot position from aria
rx = arrobot_getx;
ry = arrobot_gety;

xpositions = [xpositions rx];
ypositions = [ypositions ry];
% plot(xpositions, ypositions)

% Check if we've reached goal point
p = points{curPoint};
px = p{1};
py = p{2};
d = sqrt( (px - rx)^2 + (py - ry)^2 );
disp(sprintf(' distance remaining: %f', d))
if d <= 25 %distThresh
disp 'reached point'
arrobot_stop

% choose next point in list
curPoint = curPoint + 1
pointsMoved  = pointsMoved  + 1
if curPoint > length(points)
curPoint = 1;
end
p = points{curPoint};
px = p{1};
py = p{2};

% determine how far to rotate to face this next point
rt = arrobot_getth;
dt =  (atan2(py - ry, px - rx) * (180/3.14159)) - rt;
dt = mod((dt + 180), 360) - 180; % restrict to (-180,180)

% request robot to turn
disp(sprintf('Turning by %d deg.', dt))

% wait until heading change is achieved within specified threshold
target = rt + dt
target = mod((target + 180), 360) - 180 % restrict to (-180,180)
while abs(arrobot_getth() - target) > (angleThresh)  % note, get newest robot theta from aria each time
disp(sprintf(' angle remaining %f', abs(arrobot_getth() - target)))
pause(0.05)
end