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42 lines
1.1 KiB
42 lines
1.1 KiB
from cereal import car
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from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
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from openpilot.selfdrive.car.docs_definitions import CarInfo
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from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
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Ecu = car.CarParams.Ecu
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SPEED_FROM_RPM = 0.008587
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class CarControllerParams:
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ANGLE_DELTA_BP = [0., 5., 15.]
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ANGLE_DELTA_V = [5., .8, .15] # windup limit
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ANGLE_DELTA_VU = [5., 3.5, 0.4] # unwind limit
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LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower
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STEER_THRESHOLD = 1.0
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def __init__(self, CP):
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pass
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class CAR(Platforms):
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BODY = PlatformConfig(
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"COMMA BODY",
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CarInfo("comma body", package="All"),
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CarSpecs(mass=9, wheelbase=0.406, steerRatio=0.5, centerToFrontRatio=0.44),
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dbc_dict('comma_body', None),
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)
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FW_QUERY_CONFIG = FwQueryConfig(
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requests=[
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Request(
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[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
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[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
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bus=0,
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),
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],
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)
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CAR_INFO = CAR.create_carinfo_map()
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DBC = CAR.create_dbc_map()
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