def init_default_parameters(self): """Sets the default PID parameters, goal, and velocity""" p = Struct() p.goal = Struct() p.goal.x = 1.0 p.goal.y = 1.0 p.velocity = Struct() p.velocity.v = 0.2 p.gains = Struct() p.gains.kp = 4.0 p.gains.ki = 0.1 p.gains.kd = 0.0 p.ga_path = [] p.point_cnt = 0 self.parameters = p