diff --git a/controller/sender_rust_local.py b/controller/sender_rust_local.py
new file mode 100644
index 0000000000000000000000000000000000000000..e25fedc06b1c0a7f90944830fc2c724aa431cdf3
--- /dev/null
+++ b/controller/sender_rust_local.py
@@ -0,0 +1,264 @@
+#!/usr/bin/python
+
+import serial
+import struct
+import pygame
+import math
+import socket
+
+# IP setup
+
+HOST = '10.180.65.18' # The remote host
+PORT = 50007 # The same port as used by the server
+
+
+#################################################
+# BEGIN SETTINGS
+#################################################
+
+# Pygame
+WIDTH = 800
+HEIGHT = 600
+FRAMERATE = 10
+LIVE = True
+
+# Joystick
+JTHRESH = 0.1
+JTHRESH_TURN = 0.01
+
+# Wat
+MACRO = pygame.USEREVENT + 1
+
+#################################################
+# END SETTINGS
+#################################################
+
+# Joystick data
+class JoystickData:
+ numJoys = 0
+ macro = 0
+
+ def __init__(self):
+ self.buttons = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
+ self.axis = [0.0, 0.0, -1.0, 0.0, 0.0, -1.0]
+ self.hat = (0, 0)
+ JoystickData.numJoys += 1
+
+# Motor data / Serial Data
+class MotorData:
+ numMotors = 0
+ dataLoss = 0
+
+ def __init__(self):
+ self.lmotor = (0, 0)
+ self.rmotor = (0, 0)
+ MotorData.numMotors += 1
+
+
+
+
+# Joystick Dictionary
+jBtnName = ['A', 'B', 'X', 'Y', 'LB', 'RB', 'Select', 'Start', 'Logo', 'LS', 'RS']
+jBtn = {jBtnName[x]: x for x in range(len(jBtnName))}
+
+jAxisName = ['LSx', 'LSy', 'LT', 'RSx', 'RSy', 'RT']
+jAxis = {jAxisName[x]: x for x in range(len(jAxisName))}
+
+# Sets jData based on detected events
+def handleJoyEvent(e, jData):
+ if e.joy == 0:
+ if e.type == pygame.JOYAXISMOTION:
+ jData.axis[e.axis] = e.value
+
+ if e.type == pygame.JOYBUTTONDOWN:
+ jData.buttons[e.button] = 1
+
+ if e.type == pygame.JOYBUTTONUP:
+ jData.buttons[e.button] = 0
+
+ if e.type == pygame.JOYHATMOTION:
+ jData.hat = e.value
+
+ else:
+ pass
+
+# Sets mData based on jData
+def processInput(jData, mData):
+ sfactor = 200 #100
+ turnfactor = 180
+ drive = (0, 0)
+ #print(drive)
+
+ if jData.axis[jAxis['LSy']] > 0 + JTHRESH:
+ drive = (int( math.floor(sfactor * jData.axis[jAxis['LSy']]) ), 2)
+ elif jData.axis[jAxis['LSy']] < 0 - JTHRESH:
+ drive = (int(-math.floor(sfactor * jData.axis[jAxis['LSy']]) ), 1)
+ else:
+ drive = (0, 0)
+
+ mData.lmotor = drive
+ mData.rmotor = drive
+
+ turn = (0,0)
+
+ if jData.axis[jAxis['RSx']] > 0 + JTHRESH_TURN: ## turning right
+ turn = (int( math.floor(turnfactor * jData.axis[jAxis['RSx']]) ), 2)
+ elif jData.axis[jAxis['RSx']] < 0 - JTHRESH_TURN:
+ turn = (int(-math.floor(turnfactor * jData.axis[jAxis['RSx']]) ), 1) # turning left
+ else:
+ turn = (0, 0)
+
+ if drive != (0, 0):
+ mData.lmotor = (sorted([0, (mData.lmotor[0] + pow(-1,turn[1])*turn[0]), 200])[1], mData.lmotor[1])
+ mData.rmotor = (sorted([0, (mData.rmotor[0] - pow(-1,turn[1])*turn[0]), 200])[1], mData.rmotor[1])
+ else:
+ mData.rmotor = (sorted([0, ( turn[0]), 200])[1], turn[1] )
+ mData.lmotor = (sorted([0, ( turn[0]), 200])[1], sorted([0, (3-turn[1]), 2])[1] )
+
+
+
+def writeSockData(sock, mData):
+ # b (speed, direction)*2 servo*6 e
+ print([250, mData.lmotor[1], mData.lmotor[0], mData.rmotor[1], mData.rmotor[0], 251])
+ data = bytearray()
+ data.append(250)
+ data.append(mData.lmotor[1])
+ data.append(mData.lmotor[0])
+ data.append(mData.rmotor[1])
+ data.append(mData.rmotor[0])
+ data.append(251)
+ #print(data)
+ #data = ','.join(str(e) for e in data)
+
+ print(data)
+ sock.send(data)
+
+
+def drawText(s, jData, mData):
+ font = pygame.font.SysFont("DejaVu Sans Mono", 18)
+
+ color = (255, 255, 255)
+ bgcolor = (0, 0, 0)
+
+ for i in range(len(jData.buttons)):
+ string = str(jData.buttons[i])
+ text = font.render(string, True, color)
+ s.blit(text, (50, 200 + 20 * i))
+
+ for i in range(len(jData.axis)):
+ string = jData.axis[i]
+ text = font.render("{: 03.2f}".format(string), True, color)
+ s.blit(text, (50, 50 + 20 * i))
+
+ string = str(jData.hat)
+ text = font.render(string, True, color)
+ s.blit(text, (50, 460))
+
+
+ string = "Data loss: " + str(mData.dataLoss)
+ text = font.render(string, True, color)
+ s.blit(text, (50, 540))
+
+def drawMeters(s, jData, mData):
+ color = (255, 255, 255)
+
+ if (jData.axis[jAxis['LSy']] > 0 + JTHRESH
+ or jData.axis[jAxis['LSy']] < 0 - JTHRESH):
+
+ lscolor = (255, 0, 0)
+ else:
+ lscolor = (0, 255, 0)
+
+ if (jData.axis[jAxis['RSx']] > 0 + JTHRESH
+ or jData.axis[jAxis['RSx']] < 0 - JTHRESH):
+
+ rscolor = (255, 0, 0)
+ else:
+ rscolor = (0, 255, 0)
+
+ rh = 500
+ rw = 150
+ rgap = 200
+
+ rx = WIDTH - (2 * rw + 2 * (rgap - rw))
+ ry = (HEIGHT - rh)/2
+
+ for i in range(0, 2):
+ pos = (rx + i * rgap, ry, rw, rh)
+ pygame.draw.rect(s, color, pos, 1)
+
+ if jData.axis[jAxis['LSy']] != 0:
+ pos = (rx + 1, ry + rh/2 + 1, rw - 2, (rh/2) * jData.axis[jAxis['LSy']] - 1)
+ pygame.draw.rect(s, lscolor, pos, 0)
+
+ if jData.axis[jAxis['RSx']] != 0:
+ pos = (rx + 1 + rgap, ry + rh/2 + 1, rw - 2, (rh/2) * -jData.axis[jAxis['RSx']])
+ pygame.draw.rect(s, rscolor, pos, 0)
+
+def main():
+ # Initialize PyGame
+ pygame.init()
+ s = pygame.display.set_mode((WIDTH, HEIGHT))
+ pygame.display.set_caption("ROSTIG_VOLVO")
+ clock = pygame.time.Clock()
+
+ # Initialize Joystick(s)
+ j = pygame.joystick.Joystick(0)
+ j.init()
+
+ # Timer for macros
+ clock = pygame.time.Clock()
+
+ # Data
+ jData = JoystickData()
+ mData = MotorData()
+
+
+ # Initialize Socket
+ if LIVE:
+ sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+ sock.connect((HOST, PORT))
+ #sock.sendall('Hello, permoPi! Regards Sender.')
+
+
+ # Main program loop
+ run = True
+ while run:
+ # Clear screen
+ s.fill(0)
+
+ # Check for keyboard and joystick events
+ for e in pygame.event.get():
+ if (e.type == pygame.QUIT or
+ e.type == pygame.KEYDOWN and
+ e.key == pygame.K_ESCAPE):
+ run = False
+
+ if (e.type == pygame.JOYAXISMOTION or
+ e.type == pygame.JOYBUTTONDOWN or
+ e.type == pygame.JOYBUTTONUP or
+ e.type == pygame.JOYHATMOTION):
+ handleJoyEvent(e, jData)
+
+
+ # Set mData based on jData
+ processInput(jData, mData)
+
+ # Write data to serial
+ if LIVE:
+ writeSockData(sock, mData)
+
+
+ drawText(s, jData, mData)
+ drawMeters(s, jData, mData)
+
+ pygame.display.flip()
+ clock.tick(FRAMERATE)
+
+ if LIVE:
+ sock.close() #TODO ADD CHECK LIKE BELOW
+ #if(ser.isOpen()):
+ # ser.close()
+
+if __name__ == "__main__":
+ main()