main.py

import env, sensors
import pygame
import math

environment = env.buildEnvironment((600, 1200))
environment.originalMap = environment.map.copy()
laser = sensors.LaserSensor(200, environment.originalMap, uncertainty=(0.5, 0.01))
environment.map.fill((0, 0, 0))
environment.infomap = environment.map.copy()

running = True

while running:
  sensorOn = False
  for event in pygame.event.get():
    if event.type == pygame.QUIT:
      running = False
    if pygame.mouse.get_focused():
      sensorOn = True
    elif not pygame.mouse.get_focused():
      sensorOn: False
  if sensorOn:
    position = pygame.mouse.get_pos()
    laser.position = position # basically saying the laser is the mouse
    sensor_data = laser.sense_obstacles()
    environment.dataStorage(sensor_data)
    environment.show_sensorData()
  
  environment.map.blit(environment.infomap, (0, 0))
  pygame.display.update()