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@ -230,7 +230,8 @@ class CarController(): |
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gas_mult = interp(CS.out.vEgo, [0., 10.], [0.4, 1.0]) |
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gas_mult = interp(CS.out.vEgo, [0., 10.], [0.4, 1.0]) |
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# send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas. |
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# send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas. |
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# This prevents unexpected pedal range rescaling |
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# This prevents unexpected pedal range rescaling |
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apply_gas = clip(gas_mult * gas, 0., 1.) |
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# Sending non-zero gas when OP is not enabled will cause the PCM not to respond to throttle as expected |
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# when you do enable. |
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if enabled: |
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if enabled: |
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apply_gas = clip(gas_mult * (gas - brake + wind_brake*3/4), 0., 1.) |
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apply_gas = clip(gas_mult * (gas - brake + wind_brake*3/4), 0., 1.) |
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else: |
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else: |
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