old_contents: #!/usr/bin/env python
  TRAJECTORY = 'astroid'
  CONTROLLER = 'euler'
  
  # 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
  
  SIMULATION_TIME_IN_SECONDS = 0.0
  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 = 0.055
      MAX_W = 1.20
  elif TRAJECTORY == 'astroid':
      SIMULATION_TIME_IN_SECONDS = 120.0
      MAX_V = 0.11
      MAX_W = 1.25
  
  DELTA_T = 0.1 # this is the sampling time
  STEPS = int(SIMULATION_TIME_IN_SECONDS / DELTA_T)
  
  # directory from where data is imported to or exported from
  RESULTS_DIRECTORY = '../txt_results/'
  PATH_TO_EXPORT_DATA = RESULTS_DIRECTORY + CONTROLLER + '/' + TRAJECTORY + '/'
  PATH_TO_IMPORT_EULER_DATA = RESULTS_DIRECTORY + 'euler' + '/' + TRAJECTORY + '/'
  PATH_TO_IMPORT_PID_DATA = RESULTS_DIRECTORY + 'pid' + '/' + TRAJECTORY + '/'
  
new_contents: #!/usr/bin/env python
  TRAJECTORY = 'astroid'
  CONTROLLER = 'euler'
  
  # 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
  
  SIMULATION_TIME_IN_SECONDS = 0.0
  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 = 0.055
      MAX_W = 1.20
  elif TRAJECTORY == 'astroid':
      SIMULATION_TIME_IN_SECONDS = 120.0
      MAX_V = 0.105
      MAX_W = 1.25
  
  DELTA_T = 0.1 # this is the sampling time
  STEPS = int(SIMULATION_TIME_IN_SECONDS / DELTA_T)
  
  # directory from where data is imported to or exported from
  RESULTS_DIRECTORY = '../txt_results/'
  PATH_TO_EXPORT_DATA = RESULTS_DIRECTORY + CONTROLLER + '/' + TRAJECTORY + '/'
  PATH_TO_IMPORT_EULER_DATA = RESULTS_DIRECTORY + 'euler' + '/' + TRAJECTORY + '/'
  PATH_TO_IMPORT_PID_DATA = RESULTS_DIRECTORY + 'pid' + '/' + TRAJECTORY + '/'
  
subject: Change max velocity for astroid trajectory