refactor: move lateral methods from init to lateral.py (#35856)

* refactor: move lateral methods from init to lateral.py (#2594)

* Extracting lateral methods to lateral.py

* cleaning

* more cleaning

* more cleaning

* Making sure it remains where it should

* Leave rate_limit where it belongs

* Moving things to `car/controls/`

* Moving rate limit to get a taste of the changes

* clean

* copy verbatim

* clean up

* more

* now we can format

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* No need to change order of import

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

opendbc_repo

@@ -1 +1 @@
-Subproject commit 875806303223d2d6e38451213a0febfc6801b652
+Subproject commit a517b9973ab1e03e0c13770ec3bd5849ede4202d

selfdrive/controls/lib/latcontrol_torque.py

@@ -2,7 +2,7 @@ import math
 import numpy as np
 
 from cereal import log
-from opendbc.car import FRICTION_THRESHOLD, get_friction
+from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
 from opendbc.car.interfaces import LatControlInputs
 from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl