old_contents: #!/usr/bin/python
  import eqep
  
  # Constants
  class Constants:
      def __init__(self):
  	self.probotID = '1'
  	self.broker = '89.109.64.175'
  	self.baud = 38400
  	self.addr = 128
  	self.PWM_Freq = 20000
  	self.PWM_L_DIR = "P9_14"
  	self.PWM_L_PWM = "P9_22"
  	self.PWM_R_DIR = "P9_42"
  	self.PWM_R_PWM = "P8_13"
          self.ticks = 10000
          self.wheelDiameter = 0.25
          self.RedLED = "P8_7"
          self.GreenLED = "P8_9"
  	self.BlueLED = "P8_11"
  	self.rad_to_deg = 57.29578
  	self.Angle_offset = 2
  	self.GYR_offset = 4.5
          self.SaberTooth_KpV = 280
          self.SaberTooth_KiV = 0.6
          self.SaberTooth_KdV = 12
          self.SaberTooth_KpA = 18
          self.SaberTooth_KiA = 2.2
          self.SaberTooth_KdA = -2
          self.PWM_KpV = 75 #75 #85
          self.PWM_KiV = 0.6 #0.4
          self.PWM_KdV = 200 #200
          self.PWM_KpA = 6 #5.5 #8 #5
          self.PWM_KiA = 1.7 #1.3 #0.7 #1.7 #1
          self.PWM_KdA = -0.001 #-1 #0.0001
  	self.limitV = 800
          self.limitA = 1000 
          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.MinRedLiPo = 20
          self.AnalogPinLiPo = "P9_40"
          self.ajustFR = 0.018 #0.02 #0.015
          self.ajustLR = 0.007
  	self.encoder1 = eqep.eQEP("/sys/devices/platform/ocp/48302000.epwmss/48302180.eqep", eqep.eQEP.MODE_ABSOLUTE)
  	self.encoder2 = eqep.eQEP("/sys/devices/platform/ocp/48304000.epwmss/48304180.eqep", eqep.eQEP.MODE_ABSOLUTE)
  
new_contents: #!/usr/bin/python
  import eqep
  
  # Constants
  class Constants:
      def __init__(self):
  	self.probotID = '1'
  	self.broker = '89.109.64.175'
  	self.baud = 38400
  	self.addr = 128
  	self.PWM_Freq = 20000
  	self.PWM_L_DIR = "P9_14"
  	self.PWM_L_PWM = "P9_22"
  	self.PWM_R_DIR = "P9_42"
  	self.PWM_R_PWM = "P8_13"
          self.ticks = 10000
          self.wheelDiameter = 0.25
          self.RedLED = "P8_7"
          self.GreenLED = "P8_9"
  	self.BlueLED = "P8_11"
  	self.rad_to_deg = 57.29578
  	self.Angle_offset = 2
  	self.GYR_offset = 4.5
          self.SaberTooth_KpV = 280
          self.SaberTooth_KiV = 0.6
          self.SaberTooth_KdV = 12
          self.SaberTooth_KpA = 18
          self.SaberTooth_KiA = 2.2
          self.SaberTooth_KdA = -2
          self.PWM_KpV = 75 
          self.PWM_KiV = 0.6 
          self.PWM_KdV = 200 
          self.PWM_KpA = 6 
          self.PWM_KiA = 1.7 
          self.PWM_KdA = -0.001
  	self.limitV = 800
          self.limitA = 1000 
          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.MinRedLiPo = 20
          self.AnalogPinLiPo = "P9_40"
          self.ajustFR = 0.018 #0.02 #0.015
          self.ajustLR = 0.007
  	self.encoder1 = eqep.eQEP("/sys/devices/platform/ocp/48302000.epwmss/48302180.eqep", eqep.eQEP.MODE_ABSOLUTE)
  	self.encoder2 = eqep.eQEP("/sys/devices/platform/ocp/48304000.epwmss/48304180.eqep", eqep.eQEP.MODE_ABSOLUTE)
  
subject: Update ProBotConstantsFile.py