def isStuck(S,stuck_count):
    max_unstuck_angle = 0.5 # radians
    max_unstuck_speed = 5*3.6 # km/h
    min_unstuck_dist = 1 # m
    #print 'angle %s' %S['angle']

    if abs(S['angle']) > max_unstuck_angle and S['speedX'] < max_unstuck_speed and abs(S['trackPos']) > .2:
        print 'in stuck mode'
        if stuck_count > 200 and S['trackPos'] * S['angle'] < 0:
            stuck = True
        else:
            stuck_count+=1
            stuck = False
    else:
        stuck_count = 0
        stuck = False

    return stuck_count, stuck

# INSERT IN DRIVE MODULE
if stuck:
    R['steer'] = - S['angle'] *  0.785398 # steerlock number
    R['gear'] = -1
    R['accel'] = 0.5
    R['brake'] = 0


# MAINTAIN STUCK COUNT SOMEWHERE OUT OF DRIVE MODULE