old_contents: import pygame
  import ZMQCommunication
  import LowPassFilter
  
  # Initialization of classes from local files
  Pub_Sub = ZMQCommunication.publisher_and_subscriber()
  LPF=LowPassFilter.LowPassFilter()
  
  # Initialization of the pygame 
  pygame.init()
  pygame.joystick.init()
  clock = pygame.time.Clock() 
  
  class Joystick():
  	def __init__(self, done=0):
  		self.done=False
  
  	def mainRoutine(self):
  		# -------- Main Program Loop -----------
  		while self.done==False:
      		# EVENT PROCESSING STEP
      			for event in pygame.event.get(): # User did something
          			if event.type == pygame.QUIT: # If user clicked close
              				self.done=True # Flag that we are done so we exit this loop
  
      			for i in range(1):
          			joystick = pygame.joystick.Joystick(0)
          			joystick.init()
     				
     				# Potenciometers
          			axis1 = joystick.get_axis( 1 )
          			axis2 = joystick.get_axis( 2 )
  
          			directionForwardReverse=float(axis1)
          			directionLeftTRight=float(axis2)
  
          			FilteredValuesFR=LPF.lowPassFilterFR(-directionForwardReverse)
          			FilteredValuesLR=LPF.lowPassFilterLR(-directionLeftTRight)
      			
          			publisher=Pub_Sub.publisher('joystick', FilteredValuesFR, FilteredValuesLR)
          			
  				# Limit to 20 frames per second
          			clock.tick(20)
  		pygame.quit ()
  
  	def main(self):
  		Joystick.mainRoutine()
  
  if __name__ == '__main__':
      Joystick = Joystick()
      Joystick.main()
  
new_contents: #!/usr/bin/python
  import pygame
  import ZMQCommunication
  import LowPassFilter
  
  # Initialization of classes from local files
  Pub_Sub = ZMQCommunication.publisher_and_subscriber()
  LPF=LowPassFilter.LowPassFilter()
  
  # Initialization of the pygame 
  pygame.init()
  pygame.joystick.init()
  clock = pygame.time.Clock() 
  
  class Joystick():
  	def __init__(self, done=0):
  		self.done=False
  
  	def mainRoutine(self):
  		# -------- Main Program Loop -----------
  		while self.done==False:
      		# EVENT PROCESSING STEP
      			for event in pygame.event.get(): # User did something
          			if event.type == pygame.QUIT: # If user clicked close
              				self.done=True # Flag that we are done so we exit this loop
  
      			for i in range(1):
          			joystick = pygame.joystick.Joystick(0)
          			joystick.init()
     				
     				# Potenciometers
          			axis1 = joystick.get_axis( 1 )
          			axis2 = joystick.get_axis( 2 )
  
          			directionForwardReverse=float(axis1)
          			directionLeftTRight=float(axis2)
  
          			FilteredValuesFR=LPF.lowPassFilterFR(-directionForwardReverse)
          			FilteredValuesLR=LPF.lowPassFilterLR(-directionLeftTRight)
      			
          			publisher=Pub_Sub.publisher('joystick', FilteredValuesFR, FilteredValuesLR)
          			
  				# Limit to 20 frames per second
          			clock.tick(20)
  		pygame.quit ()
  
  	def main(self):
  		Joystick.mainRoutine()
  
  if __name__ == '__main__':
      Joystick = Joystick()
      Joystick.main()
  
subject: Update Joystick.py