diff --git a/.gitignore b/.gitignore
index b797911..f3dc66b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,14 +1,22 @@
-.tmp_versions/
-.idea/
-gather/
 *~
 *.pyc
-src/*/*.ko
-src/*/*.mod.c
+*.ko
+*.mod.c
 *.o
 *o.cmd
+*.slxc
+*.autosave
+*.original
 Module.symvers
 modules.order
+python/usr_code/usrcode.c
+python/usr_code/usrcode.h
+.idea/
+.tmp_versions/
+gather/
+matlab/slprj/
+old/
 python/images/
 python/MXTuning/
-old/
\ No newline at end of file
+python/old_npz/
+python/PBMotionAnalyzer/records/
diff --git a/matlab/chkCtrlObsv.m b/matlab/chkCtrlObsv.m
new file mode 100644
index 0000000..ed9edb2
--- /dev/null
+++ b/matlab/chkCtrlObsv.m
@@ -0,0 +1,16 @@
+  function chkCtrlObsv(ss,s)
+    P=ctrb(ss.A,ss.B);
+    if rank(ss.A)==rank(P)
+      ct='';%controlable
+    else
+      ct='not ';%not controlable
+    end
+
+    Q=obsv(ss.A,ss.C);
+    if rank(ss.A)==rank(Q)
+      ob='';%sys observable
+    else
+      ob='not ';%not observable
+    end
+    disp([s,' is ',ct,'controlable and ',ob,'observable.']); 
+  end
diff --git a/python/PBMotionAnalyzer/records/mode0.npz b/python/PBMotionAnalyzer/records/mode0.npz
deleted file mode 100644
index b00a5fd..0000000
Binary files a/python/PBMotionAnalyzer/records/mode0.npz and /dev/null differ
diff --git a/python/PBMotionAnalyzer/records/mode0.prg b/python/PBMotionAnalyzer/records/mode0.prg
deleted file mode 100644
index 220172f..0000000
--- a/python/PBMotionAnalyzer/records/mode0.prg
+++ /dev/null
@@ -1,421 +0,0 @@
-Gather.Enable=0
-Gather.Items=6
-Gather.MaxSamples=1000000
-Gather.Period=1
-Gather.Addr[0]=Motor[1].ActPos.a
-Gather.Addr[1]=Motor[2].ActPos.a
-Gather.Addr[2]=Motor[3].ActPos.a
-Gather.Addr[3]=Motor[1].DesPos.a
-Gather.Addr[4]=Motor[2].DesPos.a
-Gather.Addr[5]=Motor[3].DesPos.a
-open prog 2
-  linear abs
-X(131.055) Y(12.0362)
-dwell 10
-Gather.Enable=2
-  linear abs
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-dwell 100
-Gather.Enable=0
-close
-&1
-b2r
diff --git a/python/PBMotionAnalyzer/records/mode1.npz b/python/PBMotionAnalyzer/records/mode1.npz
deleted file mode 100644
index 39792d3..0000000
Binary files a/python/PBMotionAnalyzer/records/mode1.npz and /dev/null differ
diff --git a/python/PBMotionAnalyzer/records/mode1.prg b/python/PBMotionAnalyzer/records/mode1.prg
deleted file mode 100644
index d31d7f9..0000000
--- a/python/PBMotionAnalyzer/records/mode1.prg
+++ /dev/null
@@ -1,423 +0,0 @@
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-Gather.Items=6
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-Gather.Addr[3]=Motor[1].DesPos.a
-Gather.Addr[4]=Motor[2].DesPos.a
-Gather.Addr[5]=Motor[3].DesPos.a
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-dwell 10
-Gather.Enable=2
-  pvt10 abs
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diff --git a/python/PBMotionAnalyzer/records/mode2.npz b/python/PBMotionAnalyzer/records/mode2.npz
deleted file mode 100644
index 3a24a93..0000000
Binary files a/python/PBMotionAnalyzer/records/mode2.npz and /dev/null differ
diff --git a/python/PBMotionAnalyzer/records/mode2.prg b/python/PBMotionAnalyzer/records/mode2.prg
deleted file mode 100644
index aff42b4..0000000
--- a/python/PBMotionAnalyzer/records/mode2.prg
+++ /dev/null
@@ -1,421 +0,0 @@
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-dwell 100
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-&1
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diff --git a/python/PBMotionAnalyzer/records/path_phase20k_PhasePerServo1.npz b/python/PBMotionAnalyzer/records/path_phase20k_PhasePerServo1.npz
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diff --git a/python/PBMotionAnalyzer/records/path_phase20k_PhasePerServo2.npz b/python/PBMotionAnalyzer/records/path_phase20k_PhasePerServo2.npz
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diff --git a/python/PBMotionAnalyzer/records/path_phase20k_PhasePerServo4.npz b/python/PBMotionAnalyzer/records/path_phase20k_PhasePerServo4.npz
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diff --git a/python/PBMotionAnalyzer/records/prog_1.npz b/python/PBMotionAnalyzer/records/prog_1.npz
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diff --git a/python/PBMotionAnalyzer/records/prog_2.npz b/python/PBMotionAnalyzer/records/prog_2.npz
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diff --git a/python/PBMotionAnalyzer/records/shapepath.npz b/python/PBMotionAnalyzer/records/shapepath.npz
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diff --git a/python/PBMotionAnalyzer/records/shapepath.prg b/python/PBMotionAnalyzer/records/shapepath.prg
deleted file mode 100644
index 2e457c2..0000000
--- a/python/PBMotionAnalyzer/records/shapepath.prg
+++ /dev/null
@@ -1,418 +0,0 @@
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-Gather.Addr[3]=Motor[1].DesPos.a
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-X(658.623185) Y(600.486903)
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-X(751.046279) Y(603.484760)
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-dwell 100
-Gather.Enable=0
-close
-&1
-b2r
diff --git a/python/shapepath.py b/python/shapepath.py
index 774d8d7..9b75b3c 100755
--- a/python/shapepath.py
+++ b/python/shapepath.py
@@ -615,6 +615,7 @@ if __name__=='__main__':
     #sp.plot_gather()
     #return
     fn='/tmp/shapepath'
+    #fn='PBMotionAnalyzer/records/rand50um_25Hz'
     #sp.setup_coord_trf()
 
     #sp.points=np.zeros((2,2))
@@ -635,7 +636,7 @@ if __name__=='__main__':
     #sp.gen_grid_points(w=100,h=100,pitch=50,rnd=.2)
 
 
-    #setup_gather(self, acq_per=1) #Gather.MaxLines=116508   580pts
+    #sp.setup_gather(acq_per=1) #Gather.MaxLines=116508   580pts
     sp.setup_gather(acq_per=2)
     #setup_sync(self, crdId=1, prgId=2, plcId=2, mode=0, **kwargs):
     #sp.setup_sync() #no sync at all
@@ -649,7 +650,8 @@ if __name__=='__main__':
 
     #sp.gen_grid_points(w=2,h=20,pitch=50,rnd=0);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=10,acq_per=1)
     #sp.gen_rand_points(n=500, scale=1000);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=10,acq_per=1)
-    sp.gen_grid_points(w=20,h=20,pitch=10,rnd=0);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40)
+    #sp.gen_grid_points(w=30,h=30,pitch=50,rnd=0.2);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40)
+    sp.gen_rand_points(n=400, scale=1000);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40)
 
 
     #>>>setup gather and sync<<<
@@ -663,7 +665,7 @@ if __name__=='__main__':
     sp.run()
     trigger(0.5)
     sp.gather_upload(fnRec=fn+'.npz')
-    sp.plot_gather(mode=8)
+    sp.plot_gather(mode=11)
 
 
     # cfg={"points": [[100,523],[635,632],[756,213]],"sequencer":[sort_points,move_trj+')']}