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26 lines
688 B
26 lines
688 B
5 years ago
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import math
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from cereal import log
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class LatControlAngle():
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def __init__(self, CP):
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pass
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def reset(self):
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pass
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def update(self, active, CS, CP, VM, params, lat_plan):
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angle_log = log.ControlsState.LateralAngleState.new_message()
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if CS.vEgo < 0.3 or not active:
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angle_log.active = False
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angle_steers_des = float(CS.steeringAngleDeg)
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else:
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angle_log.active = True
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angle_steers_des = math.degrees(VM.get_steer_from_curvature(-lat_plan.curvature, CS.vEgo))
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angle_steers_des += params.angleOffsetDeg
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angle_log.saturated = False
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angle_log.steeringAngleDeg = angle_steers_des
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return 0, float(angle_steers_des), angle_log
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