Python • Re: RPI freezes by running this code

Code:

#motion.pyimport tkinter as tkimport mathfrom enum import Enumimport timecommands = ["STOP", "FRWD", "BKWD", "LEFT", "RIHT"]class Commands(Enum):    STOP = 0    FRWD = 1    BKWD = 2    LEFT = 3    RIHT = 4class MotionController:    def __init__(self):        self.width, self.height = 1000, 1000        self.angle_line_startx = self.width / 2        self.angle_line_starty = self.height / 2        self.angle = 0        self.mileage = 0        self.line_length = 20        self.x_factor = self.width / 2        self.y_factor = self.height / 2        self.size_factor = 0.2        self.turn = False        self.cmd_pick = 0        self.polygon_points = []                self.root = tk.Tk()        self.root.title("Map")        self.canvas = tk.Canvas(self.root, width=self.width, height=self.height, bg="black")        self.canvas.pack()    def arr_pos(self, x, y):        start_time = time.time()        image_width = 640 * self.size_factor        image_height = 480 * self.size_factor                x_rot_offset = self.x_factor - image_width / 2        y_rot_offset = self.y_factor - image_height / 2        angle_in_rad_rot = (self.angle + 90) * math.pi / 180        cos_theta = math.cos(angle_in_rad_rot)        sin_theta = math.sin(angle_in_rad_rot)        x_rot = self.size_factor * (x - self.x_factor) * cos_theta - self.size_factor * (y - self.y_factor) * sin_theta + x_rot_offset        y_rot = self.size_factor * (x - self.x_factor) * sin_theta + self.size_factor * (y - self.y_factor) * cos_theta + y_rot_offset        angle_in_rad_transform = self.angle * math.pi / 180        cos_fi = math.cos(angle_in_rad_transform)        sin_fi = math.sin(angle_in_rad_transform)        x_transform_offset = self.mileage * self.size_factor * cos_fi        y_transform_offset = self.mileage * self.size_factor * sin_fi                x_transformed = x_rot + x_transform_offset        y_transformed = y_rot + y_transform_offset        end_time = time.time()        print(f"arr_pos: {end_time - start_time} ms")        return x_transformed, y_transformed    def gen_map(self, surrounding, distance, angle, mileage):        start_time = time.time()        self.angle = angle        self.mileage = mileage        angle_in_rad = angle * math.pi / 180        cos_theta = math.cos(angle_in_rad)        sin_theta = math.sin(angle_in_rad)        connection_points = [(0, 0),(0, 0)]        angle_line_endx = self.angle_line_startx + self.line_length * cos_theta        angle_line_endy = self.angle_line_starty + self.line_length * sin_theta        self.canvas.delete("angle_line")        self.canvas.create_line(self.angle_line_startx, self.angle_line_starty, angle_line_endx, angle_line_endy, fill="red", tags="angle_line")        if mileage % 500 == 0: #just random val to see if mapping works            self.turn == True                    if self.turn == True:            x_start_rot, y_start_rot = self.arr_pos(surrounding[0][0], surrounding[0][1])            x_end_rot, y_end_rot = self.arr_pos(surrounding[len(surrounding)-2][0], surrounding[len(surrounding)-2][1])            self.x_factor = (x_start_rot + x_end_rot) / 2            self.y_factor = (y_start_rot + y_end_rot) / 2            self.turn = False        self.polygon_points = [self.arr_pos(x, y) for x, y in surrounding]        self.canvas.create_polygon(self.polygon_points, outline="white", fill="white", tags="map_polygon")                if distance < 30:            self.cmd_pick = Commands.STOP.value        else:             if(angle >= angle + 90):                self.cmd_pick = Commands.RIHT.value            else:                self.cmd_pick = Commands.FRWD.value                    direction = commands[self.cmd_pick]        self.root.update()        end_time = time.time()        print(f"gen_map: {end_time - start_time} ms")        return direction

Code:

gen_map: 1.9618196487426758 msarr_pos: 4.291534423828125e-06 ms...arr_pos: 4.291534423828125e-06 msarr_pos: 4.291534423828125e-06 msarr_pos: 4.5299530029296875e-06 msarr_pos: 4.291534423828125e-06 msgen_map: 2.0169084072113037 ms