Fixed Reference
Absolute time	Reference 	Relative Time 	Func Value 	Absolute Position	Error
0	0	0	0	0	0
1	0	1	2	2	0
2	0	2	4	4	0
3	0	3	6	6	0
4	0	4	8	8	0
5	0	5	10	10	0
6	0	0	0	10	10
7	0	1	2	12	10
8	0	2	4	14	10
9	0	3	6	16	10
10	0	4	8	18	10
11	0	5	10	20	10
12	0	0	0	20	20
13	0	1	2	22	20
14	0	2	4	24	20
15	0	3	6	26	20
16	0	4	8	28	20
17	0	5	10	30	20