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36 lines
1.2 KiB
36 lines
1.2 KiB
6 years ago
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from selfdrive.car.mazda import mazdacan
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from selfdrive.car.mazda.values import DBC, SteerLimitParams
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from opendbc.can.packer import CANPacker
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from selfdrive.car import apply_std_steer_torque_limits
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class CarController():
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def __init__(self, dbc_name, CP, VM):
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self.steer_idx = 0
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self.apply_steer_last = 0
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self.packer = CANPacker(dbc_name)
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self.steer_rate_limited = False
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def update(self, enabled, CS, frame, actuators):
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""" Controls thread """
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can_sends = []
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### STEER ###
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if enabled and not CS.steer_not_allowed:
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# calculate steer and also set limits due to driver torque
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new_steer = int(round(actuators.steer * SteerLimitParams.STEER_MAX))
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apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last,
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CS.out.steer_torque_driver, SteerLimitParams)
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self.steer_rate_limited = new_steer != apply_steer
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else:
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apply_steer = 0
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self.steer_rate_limited = False
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self.apply_steer_last = apply_steer
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can_sends.append(mazdacan.create_steering_control(self.packer, CS.CP.carFingerprint,
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frame, apply_steer, CS.cam_lkas))
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return can_sends
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