#!/usr/bin/python

import pygame

import math

import sys

import gzip

import pickle

from pyfann import libfann

from serial_car import SerialCar

from vision import Vision

def handle_events():

pause = not pause

pygame.init()

pause = False

vision = Vision("Driver")

joystick = pygame.joystick.Joystick(0)

joystick.init()

robot = SerialCar('/dev/ttyUSB0', 38400)

out_values = [0, 0]

nn = libfann.neural_net()

nn.create_from_file(sys.argv[1])

try:

while True:

handle_events()

in_values = vision.frame()

out_values = nn.run(in_values)

if pause:

robot.set_speed(0, 0)

else:

robot.set_speed(out_values[0], out_values[1])

print "Speed: {} forward, {} turn".format(out_values[0], out_values[1])

except KeyboardInterrupt:

print "Terminated..."

robot.set_speed(0, 0)