TRAJECTORY = 'linear'
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


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

DELTA_T = 0.1 # this is the sampling time
STEPS = int(SIMULATION_TIME_IN_SECONDS / DELTA_T)
RESULTS_DIRECTORY = '../txt_results/'

TRAJECTORY = 'linear'
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

DELTA_T = 0.1 # this is the sampling time
STEPS = int(SIMULATION_TIME_IN_SECONDS / DELTA_T)
RESULTS_DIRECTORY = '../txt_results/'

Add default value for simulation time
Add default value for simulation time


  TRAJECTORY = 'linear'
  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
  
  DELTA_T = 0.1 # this is the sampling time
  STEPS = int(SIMULATION_TIME_IN_SECONDS / DELTA_T)
  RESULTS_DIRECTORY = '../txt_results/'
  
Add default value for simulation time
## Code Before:
TRAJECTORY = 'linear'
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


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

DELTA_T = 0.1 # this is the sampling time
STEPS = int(SIMULATION_TIME_IN_SECONDS / DELTA_T)
RESULTS_DIRECTORY = '../txt_results/'

## Instruction:
Add default value for simulation time
## Code After:
TRAJECTORY = 'linear'
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

DELTA_T = 0.1 # this is the sampling time
STEPS = int(SIMULATION_TIME_IN_SECONDS / DELTA_T)
RESULTS_DIRECTORY = '../txt_results/'
