3. Write a Matlab program that calculates the peak-to-peak value of the servomotor shaft oscillation. The program must be fully documented with meaningful comments. In other words your program wi take an array of 2000 elements (i.c. the filtered encoder readings) and calculate the peak to peak value. (Hint: One way is to identify the maximum and minimum value of the encoder signal over a number of cycles, for example 20. Then take the average to identify the average peak-to-peak value. There are also other ways of doing this such as RMS detection) 3. Write a Matlab program that calculates the peak-to-peak value of the servomotor shaft oscillation. The program must be fully documented with meaningful comments. In other words your program wi take an array of 2000 elements (i.c. the filtered encoder readings) and calculate the peak to peak value. (Hint: One way is to identify the maximum and minimum value of the encoder signal over a number of cycles, for example 20. Then take the average to identify the average peak-to-peak value. There are also other ways of doing this such as RMS detection)