old_contents: #!/usr/bin/env python
  TRAJECTORY = 'linear'
  
  if TRAJECTORY == 'linear':
      SIMULATION_TIME_IN_SECONDS = 40.0
  elif TRAJECTORY == 'circular':
      SIMULATION_TIME_IN_SECONDS = 120.0
  elif TRAJECTORY == 'squared':
      SIMULATION_TIME_IN_SECONDS = 160.0
  
  DELTA_T = 0.1 # this is the sampling time
  STEPS = int(SIMULATION_TIME_IN_SECONDS / DELTA_T)
  
  # 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
  
new_contents: #!/usr/bin/env python
  TRAJECTORY = 'linear'
  
  if TRAJECTORY == 'linear':
      SIMULATION_TIME_IN_SECONDS = 80.0
  elif TRAJECTORY == 'circular':
      SIMULATION_TIME_IN_SECONDS = 120.0
  elif TRAJECTORY == 'squared':
      SIMULATION_TIME_IN_SECONDS = 160.0
  
  DELTA_T = 0.1 # this is the sampling time
  STEPS = int(SIMULATION_TIME_IN_SECONDS / DELTA_T)
  
  # 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
  
subject: Increase simulation time for linear trajectory