class FakeSteeringWheel ( ) :
def __init__ ( self , dt = 0.01 ) :
# physical params
self . DAC = 4. / 0.625 # convert torque value from can to Nm
self . k = 0.035
self . centering_k = 4.1 * 0.9
self . b = 0.1 * 0.8
self . I = 1 * 1.36 * ( 0.175 * * 2 )
self . dt = dt
# ...
self . angle = 0. # start centered
# self.omega = 0.
def response ( self , torque , vego = 0 ) :
exerted_torque = torque * self . DAC
# centering_torque = np.clip(-(self.centering_k * self.angle), -1.1, 1.1)
# damping_torque = -(self.b * self.omega)
# self.omega += self.dt * (exerted_torque + centering_torque + damping_torque) / self.I
# self.omega = np.clip(self.omega, -1.1, 1.1)
# self.angle += self.dt * self.omega
self . angle + = self . dt * self . k * exerted_torque # aristotle
# print(" ========== ")
# print("angle,", self.angle)
# print("omega,", self.omega)
# print("torque,", exerted_torque)
# print("centering torque,", centering_torque)
# print("damping torque,", damping_torque)
# print(" ========== ")
def set_angle ( self , target ) :
self . angle = target
# self.omega = 0.
