From e554b1362f2bdd0ec49649709a18f65790c5dfdd Mon Sep 17 00:00:00 2001
From: PatXue <95881915+PatXue@users.noreply.github.com>
Date: Mon, 25 Mar 2024 18:10:30 -0400
Subject: [PATCH] Change wheelbase variable based on buggy_name

---
 rb_ws/src/buggy/scripts/auton/controller.py | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/rb_ws/src/buggy/scripts/auton/controller.py b/rb_ws/src/buggy/scripts/auton/controller.py
index cf7120f8..08be1013 100755
--- a/rb_ws/src/buggy/scripts/auton/controller.py
+++ b/rb_ws/src/buggy/scripts/auton/controller.py
@@ -19,11 +19,15 @@ class Controller(ABC):
 
     NAND_WHEELBASE = 1.3
     SC_WHEELBASE = 1.104
-    WHEELBASE = SC_WHEELBASE
     current_traj_index = 0
 
     def __init__(self, start_index, buggy_name) -> None:
         self.buggy_name = buggy_name
+        if buggy_name.upper() == 'NAND':
+            Controller.WHEELBASE = self.NAND_WHEELBASE
+        else:
+            Controller.WHEELBASE = self.SC_WHEELBASE
+
         # self.trajectory_forward_1 = rospy.Publisher(
         #     buggy_name + "/auton/debug/forward1_navsat", NavSatFix, queue_size=1
         # )