old_contents: #!/usr/bin/python
  
  # Constants used in the algorithm
  class Constants():
      def __init__(self):
  	self.baud=38400
  	self.addr=128
  	self.PWM_Freq=15000
  	self.PWM_RR="P9_14"
  	self.PWM_RF="P9_22"
  	self.PWM_LR="P8_13"
  	self.PWM_LF="P9_42"
          self.ticks = 10000
          self.wheelDiameter = 0.3
          self.RedLED = "P8_7"
          self.GreenLED = "P8_9"
  	self.BlueLED = "P8_11"
          self.SaberTooth_KpV = 125
          self.SaberTooth_KiV = 0.3
          self.SaberTooth_KdV = 20
          self.SaberTooth_KpA = 10
          self.SaberTooth_KiA = 0.65
          self.SaberTooth_KdA = -2.5
          self.PWM_KpV = 20
          self.PWM_KiV = 0.2
          self.PWM_KdV = 0.4
          self.PWM_KpA = 13
          self.PWM_KiA = 0.5
          self.PWM_KdA = -1.2
          self.limitV = 310 
          self.limitP = 10 
          self.limitA = 310 
          self.integrated_error_V1 = 0
          self.integrated_error_V2 = 0
          self.integrated_error_A1 = 0
          self.integrated_error_A2 = 0
          self.last_error_V1 = 0
          self.last_error_V2 = 0
          self.last_error_A1 = 0
          self.last_error_A2 = 0
          self.mLiPo = 25.2951
          self.MinRedLiPo = 20
          self.AnalogPinLiPo = "P9_40"
          self.tenths = 0.1
          self.hundredths = 0.01
          self.thousandths = 0.001
          self.ajustFR = 0.02
          self.ajustLR = 0.008
  
  
  
  
new_contents: #!/usr/bin/python
  
  # Constants used in the algorithm
  class Constants():
      def __init__(self):
  	self.baud=38400
  	self.addr=128
  	self.PWM_Freq=15000
  	self.PWM_RR="P9_14"
  	self.PWM_RF="P9_22"
  	self.PWM_LR="P8_13"
  	self.PWM_LF="P9_42"
          self.ticks = 10000
          self.wheelDiameter = 0.3
          self.RedLED = "P8_7"
          self.GreenLED = "P8_9"
  	self.BlueLED = "P8_11"
          self.SaberTooth_KpV = 125
          self.SaberTooth_KiV = 0.3
          self.SaberTooth_KdV = 20
          self.SaberTooth_KpA = 10
          self.SaberTooth_KiA = 0.65
          self.SaberTooth_KdA = -2.5
          self.PWM_KpV = 0
          self.PWM_KiV = 0
          self.PWM_KdV = 0
          self.PWM_KpA = 0
          self.PWM_KiA = 0
          self.PWM_KdA = 0
          self.limitV = 310 
          self.limitP = 10 
          self.limitA = 310 
          self.integrated_error_V1 = 0
          self.integrated_error_V2 = 0
          self.integrated_error_A1 = 0
          self.integrated_error_A2 = 0
          self.last_error_V1 = 0
          self.last_error_V2 = 0
          self.last_error_A1 = 0
          self.last_error_A2 = 0
          self.mLiPo = 25.2951
          self.MinRedLiPo = 20
          self.AnalogPinLiPo = "P9_40"
          self.tenths = 0.1
          self.hundredths = 0.01
          self.thousandths = 0.001
          self.ajustFR = 0.02
          self.ajustLR = 0.008
  
  
  
  
subject: Update ProBotConstants.py