small amount of torque towards desired

3 years ago · 18193f1612
parent d73ca5ff3c
commit 18193f1612
1 changed files with 2 additions and 2 deletions
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@ -15,8 +15,8 @@ def create_steer_command(packer, steer, steer_req, raw_cnt):
 def create_lta_steer_command(packer, apply_steer, steer_angle, driver_torque, steer_req, raw_cnt):
  """Creates a CAN message for the Toyota LTA Steer Command."""

-  percentage = interp(abs(driver_torque), [30, 100], [100, 0])
-  apply_steer = interp(percentage, [0, 100], [steer_angle, apply_steer])
+  percentage = interp(abs(driver_torque), [50, 100], [100, 0])
+  apply_steer = interp(percentage, [-20, 100], [steer_angle, apply_steer])
  values = {
    "COUNTER": raw_cnt,  # 0 to 62
    "SETME_X1": 1,