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George Hotz
9ef085076b
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5 years ago | |
|---|---|---|
| .. | ||
| chrysler | 5 years ago | |
| ford | 5 years ago | |
| gm | 5 years ago | |
| honda | 5 years ago | |
| hyundai | 5 years ago | |
| mock | 5 years ago | |
| subaru | 5 years ago | |
| tests | 5 years ago | |
| toyota | 5 years ago | |
| volkswagen | 5 years ago | |
| README | 5 years ago | |
| __init__.py | 5 years ago | |
| car_helpers.py | 5 years ago | |
| fingerprints.py | 5 years ago | |
| fw_versions.py | 5 years ago | |
| interfaces.py | 5 years ago | |
| isotp_parallel_query.py | 5 years ago | |
| vin.py | 5 years ago | |
README
In here lies the car abstraction layer, and is part of what you will implement to add a new car
== Car State ==
Implement the following minimal set of sensors:
Speed -- best estimate of the speed of the car
SteeringAngle -- current angle of the steering wheel
ControlSurface -- gas position, brake position, steering torque
Implement the following optional sensors:
RadarPoints -- Currently not optional, but could be with VOACC. Data from the radar of the car.
WheelSpeeds -- The speed of the 4 wheels of the car. To be used for odometry
Implement the following controls:
ControlSurface -- gas position (optional if PCM), brake position, steering torque
If you don't have a pedal interceptor and you use the PCM cruise control:
CruiseState -- If system is enabled, and current set speed
CruiseControl -- Commands to modify system speed and acceleration
== Car UI ==
I suspect many cars with ACC and LKAS have similar UIs
HUDControl
== Car Buttons ==
Uses an evented protocol
* Blinkers
* Cruise buttons
* Other buttons
== Car Errors ==
See capnp for list of errors