comit before rollback

car.py

@@ -49,7 +49,7 @@ class Car(pygame.sprite.Sprite):
         self.left_sensor = None
         self.right_sensor = None
         self.sensors = [self.left_sensor, self.center_sensor, self.right_sensor]
-        self.probes = [self.vision_length] * 3
+        self.probes = [1] * 3
 
         if brain:
             self.brain = brain
@@ -69,7 +69,7 @@ class Car(pygame.sprite.Sprite):
             75 - int(random.random() * 20) - 10,
             GY - 50 - int(random.random() * 20) - 10,
         )
-        self.speed = 1
+        self.speed = 10
         self.heading = random.random() * 20
         self.heading_change = random.random() * 30
 
@@ -116,7 +116,7 @@ class Car(pygame.sprite.Sprite):
 
     def probe_lines_proximity(self, lines):
         # print(self.center_sensor, lines[0])
-        self.probes = [self.vision_length * 2] * 3
+        self.probes = [1] * 3
         for idx, sensor in enumerate(
             [self.left_sensor, self.center_sensor, self.right_sensor]
         ):
@@ -126,22 +126,20 @@ class Car(pygame.sprite.Sprite):
                 if ip:
                     if self.draw_sensors:
                         pygame.draw.circle(screen, (125, 125, 255), ip, 4, 2)
-                    dist = int(distance(ip, self.rect.center))
-                    self.probes[idx] = min(dist, self.probes[idx])
-                    if dist < 1 * self.speed or self.speed < 0.01:
+                    dist = distance(ip, self.rect.center)
+                    self.probes[idx] = min(dist / self.vision_length, self.probes[idx])
+                    if dist < 5 * self.speed or self.speed < 1:
                         self.run = False
                         self.speed = 0
                         # print(f'Car {id(self)} crashed')
                         return
 
-                else:
-                    self.probes[idx] = self.vision_length * 1.1
         # print(self.probes)
 
     def probe_brain(self):
         res = self.brain.predict(np.array(self.probes + [self.speed]))
-        self.heading_change = res[0] * 30
-        self.throttle = res[1] * 5
+        self.heading_change = res[0]
+        self.throttle = res[1]
 
     def update(self):
         # rotate
@@ -172,14 +170,10 @@ class Car(pygame.sprite.Sprite):
             self.heading += self.heading_change * CAR_STEERING_FACTOR / self.speed
             self.heading = self.heading % 360
 
-            self.speed += self.throttle  # THROTTLE_POWER
-            # if self.throttle :
-            # self.speed += self.throttle #THROTTLE_POWER
-            # else :
-            # self.speed -= self.throttle #THROTTLE_POWER
-
+            self.speed += self.throttle  # * THROTTLE_POWER
             self.speed = max(0, self.speed)
             self.speed = min(self.speed, CAR_MAX_SPEED)
+            print("speed", self.speed)
 
         super().update()