we have a track / ready to ML

main.py

@@ -7,12 +7,15 @@ from trigo import angle_to_vector, get_line_feats, segments_intersection, distan
 
 FLAGS=  HWSURFACE | DOUBLEBUF #| FULLSCREEN
 
-GX = 800
+GX = 1000
-GY = 800
+GY = 1000
 CELL_COLOR = (80,80,80)
-CAR_SIZE=50
+CAR_SIZE=25
+VISION_LENGTH = 50
+VISION_SPAN = 25 # degrees
+THROTTLE_POWER = 3
 pygame.init()
-IMG = pygame.image.load("car50.png")#.convert()
+IMG = pygame.image.load("car25.png")#.convert()
 
 
 
@@ -29,12 +32,12 @@ class Car(pygame.sprite.Sprite):
         self.image = self.original_image
 
         self.rect = self.image.get_rect()
-        self.rect.center = (GX / 2, GY / 2)
+        self.rect.center = (75, GY -50)
         self.speed = 5
         self.heading = 0
         self.heading_change = 0
-        self.vision_length = 200 # line liength
+        self.vision_length = VISION_LENGTH # line liength
-        self.vision_span = 22 # degrees
+        self.vision_span = VISION_SPAN # degrees
         self.draw_sensors = True
 
         # lets add 3 sensors as a start 
@@ -51,6 +54,9 @@ class Car(pygame.sprite.Sprite):
         self.sensors = [self.left_sensor, self.center_sensor, self.right_sensor]
         self.probes = [self.vision_length] *3 
         
+        self.heading_change = 0
+        self.throttle = 0
+
 
     def update_sensors(self):
         center = self.rect.center
@@ -72,7 +78,6 @@ class Car(pygame.sprite.Sprite):
 
 
 
-
     def update(self):
         # rotate
         old_center = self.rect.center
@@ -81,8 +86,17 @@ class Car(pygame.sprite.Sprite):
         self.rect.center = old_center
         self.update_position()
 
-        self.heading += self.heading_change
+        if self.speed : 
+            self.heading += self.heading_change / self.speed
             self.heading = self.heading % 360
+
+            if self.throttle :
+                self.speed += THROTTLE_POWER
+            else :
+                self.speed -= THROTTLE_POWER
+
+            self.speed = max(0, self.speed)
+
         super().update()
 
 
@@ -113,6 +127,7 @@ class Car(pygame.sprite.Sprite):
 
 
 
+
 screen = pygame.display.set_mode((GX, GY), FLAGS)
 screen.set_alpha(None)
 
@@ -121,9 +136,9 @@ all_cars = pygame.sprite.Group()
 # car.heading = 0
 # all_cars.add(car)
 car2 = Car()
-car2.heading = 270
+car2.heading = 0
-car2.heading_change = 3
+car2.heading_change = 30
-car2.speed = 5
+car2.speed = 25
 all_cars.add(car2)
 
 ip = segments_intersection(car2.center_sensor, car2.left_sensor)
@@ -141,23 +156,53 @@ ip = segments_intersection(car2.center_sensor, car2.left_sensor)
 #     car.speed = int(random.random()*6)
 #     all_cars.add(car)
 
-lines = [
-    [
-        (
-            int(random.random()*GX),
-            int(random.random()*GY)
-        ),(
-            int(random.random()*GX),
-            int(random.random()*GY)
-        )
-    ]
-for x in range(10)
-]
 # lines = [
-#     [(int(GX/2)+100, int(GY/2+225)), (int(GX/2)+100, int(GY/2-225))]
+#     [
-
+#         (
+#             int(random.random()*GX),
+#             int(random.random()*GY)
+#         ),(
+#             int(random.random()*GX),
+#             int(random.random()*GY)
+#         )
+#     ]
+# for x in range(10)
 # ]
 
+path = [
+    (25,                int(GY-25)), 
+    (int(GX/2),         int(GY-25)),
+    (int(GX/2 + 75),    int(GY-150)),
+    (int(GX/2 + 150),   int(GY-150)),
+    (int(GX -75),       int(GY/2)),
+    (int(GX/2),         int(GY/2 - 75)),
+    (int(GX/2),         int(GY/2 - 150)),
+    (int(GX -50),       int( GY/4 )),
+    (int(3*GX/4 - 50),  int(50)),
+    (int(50),           int(50)),
+    (int(100),          int(GY/2)),
+    (25,                int(GY-25)), 
+]
+
+path2 = [
+    (100,               int(GY-85)), 
+    (int(GX/2 - 50 ),   int(GY-85)),
+    (int(GX/2 + 50),    int(GY-210)),
+    (int(GX/2 + 110),   int(GY-210)),
+    (int(GX - 170),     int(GY/2 + 30)),
+    (int(GX/2 - 60 ),   int(GY/2 - 20)),
+    (int(GX/2 - 60),    int(GY/2 - 200)),
+    (int(GX -170),      int( GY/4 -20)),
+    (int(3*GX/4 - 100), int(120)),
+    (int(120),          int(120)),
+    (int(175),          int(GY/2)),
+    (100,               int(GY-85)), 
+]
+
+lines = [[path[i], path[i+1]] for i in range(len(path)-1)]
+lines2 = [[path2[i], path2[i+1]] for i in range(len(path2)-1)]
+
+lines = lines + lines2
 print(lines)