figure(50);
plot(t_Rn,Rn(:,[1 2 7 8]),'--s','MarkerSize',1.5);
legend('Motor 1 Current','Motor 2 Current', 'Motor 3 Current', 'Motor 4 Current');
grid on;

figure(51);
plot(t_Rn,Rn(:,[3 4 5 6]),'--s','MarkerSize',1.5);
legend('Motor 1 Position', 'Motor 2 Position', 'Motor 3 Position', 'Motor 4 Position');
grid on;

figure(52);
plot(t_Rn,Rn(:,[9 10 11]),'--s','MarkerSize',1.5);
legend('Acc X', 'Acc Y', 'Acc Z');
grid on;


figure(53);
plot(t_Rn,Rn(:,[12 13 14]),'--s','MarkerSize',1.5);
legend('Gyro X', 'Gyro Y', 'Gyro Z');
grid on;
