void Widget::Run()
{
    double v = ui->v->toPlainText().toDouble();
    double phi = ui->phi->toPlainText().toDouble();
    double dt = ui->dt->toPlainText().toDouble();
    QPair<QPoint, double>carPos =  car->run(v, phi, dt);
    car->setPos(carPos.first);
    car->setRotation(carPos.second);
}