#!/usr/bin/env python
TRAJECTORY = 'squared'
CONTROLLER = 'pid'

# control constants
K_X = 0.90
K_Y = 0.90
K_THETA = 0.90

# PID control constants
K_P_V = 0.2
K_I_V = 1.905
K_D_V = 0.00

K_P_W = 0.45
K_I_W = 1.25
K_D_W = 0.000


if TRAJECTORY == 'linear':
    SIMULATION_TIME_IN_SECONDS = 60.0
    MAX_V = 0.075
    MAX_W = 1.25
elif TRAJECTORY == 'circular':
    SIMULATION_TIME_IN_SECONDS = 120.0
    MAX_V = 0.11
    MAX_W = 1.25
elif TRAJECTORY == 'squared':
    SIMULATION_TIME_IN_SECONDS = 160.0
    MAX_V = 0.60
    MAX_W = 0.75

DELTA_T = 0.1 # this is the sampling time
STEPS = int(SIMULATION_TIME_IN_SECONDS / DELTA_T)

@@ -509,18 +509,19 @@
 X_V = 0.
-6
 0
+55
 %0A    MAX
@@ -527,18 +527,18 @@
 X_W = 0.
-75
+20
 %0A%0ADELTA_

Set values for constants that work kind of properly