running

car.py

@@ -1,4 +1,5 @@
 import numpy as np
+import random
 import pygame
 
 from brain import Neural_Network
@@ -9,7 +10,7 @@ IMG = pygame.image.load("car20.png")#.convert()
 
 
 class Car(pygame.sprite.Sprite):
-    def __init__(self):
+    def __init__(self, brain=None):
         pygame.sprite.Sprite.__init__(self)
         self.top_surface = pygame.Surface((CAR_SIZE, CAR_SIZE))
         self.original_image = IMG
@@ -21,9 +22,6 @@ class Car(pygame.sprite.Sprite):
 
         self.rect = self.image.get_rect()
         self.rect.center = (75, GY -50)
-        self.speed = 1
-        self.heading = 0
-        self.heading_change = 0
         self.vision_length = VISION_LENGTH # line liength
         self.vision_span = VISION_SPAN # degrees
         self.draw_sensors = True
@@ -41,12 +39,20 @@ class Car(pygame.sprite.Sprite):
         self.sensors = [self.left_sensor, self.center_sensor, self.right_sensor]
         self.probes = [self.vision_length] *3 
         
-        self.brain = Neural_Network()
-
+        if brain :
+            self.brain = brain
+        else :
+            self.brain = Neural_Network()
+        
+        self.reset_car_pos()
         self.update_sensors()
         self.probe_brain()
         self.run = True
 
+    def reset_car_pos(self):
+        self.speed = 1
+        self.heading = 0
+        self.heading_change = random.random() * 30
 
     def update_sensors(self):
         center = self.rect.center
@@ -83,7 +89,8 @@ class Car(pygame.sprite.Sprite):
                     if dist < 1.2 * self.speed or self.speed < 0.01 :
                         self.run = False
                         self.speed = 0
-                        print(f'Car {id(self)} crashed')
+                        # print(f'Car {id(self)} crashed')
+                        return
 
                 # else :
                 #     self.probes[idx] = self.vision_length * 2 
@@ -106,13 +113,13 @@ class Car(pygame.sprite.Sprite):
         if self.speed < 0.01 :
             self.run = False
             print(f'Car {id(self)} crashed')
-        print(
-            'id', id(self),
-            'Speed', self.speed,
-            'heading', self.heading,
-            'throttle', self.throttle,
-            'heading change', self.heading_change,
-        )
+        # print(
+        #     'id', id(self),
+        #     'Speed', self.speed,
+        #     'heading', self.heading,
+        #     'throttle', self.throttle,
+        #     'heading change', self.heading_change,
+        # )
 
         if self.speed : 
             self.heading += self.heading_change * CAR_STEERING_FACTOR / self.speed