there was a bug, need to subtract from last_angle essentially

selfdrive/car/toyota/carcontroller.py

@@ -77,16 +77,18 @@ class CarController:
       apply_steer_req = 0
       if self.frame % 2 == 0:
         # EPS uses the torque sensor angle to control with, offset to compensate
-        apply_angle = actuators.steeringAngleDeg + CS.out.steeringAngleOffsetDeg
+        new_angle = actuators.steeringAngleDeg + CS.out.steeringAngleOffsetDeg
+        angle_diff = new_angle - self.last_angle
 
         # If the EPS output torque is above the limit, force the requested
         # angle to lower at the max allowed rate
         angle_down_limit = interp(CS.out.vEgo, self.params.ANGLE_RATE_LIMIT_DOWN.speed_bp,
                                   self.params.ANGLE_RATE_LIMIT_DOWN.angle_v)
-        max_torque_angle_mod = interp(abs(CS.out.steeringTorqueEps),
-                                      [MAX_STEER_TORQUE, MAX_STEER_TORQUE + 100], [0, -angle_down_limit])
-        sign_of = 1 if apply_angle >= 0 else -1
-        apply_angle += max_torque_angle_mod * sign_of
+        sign_of = 1 if new_angle >= 0 else -1
+        angle_diff = interp(abs(CS.out.steeringTorqueEps),
+                            [MAX_STEER_TORQUE, MAX_STEER_TORQUE + 100],
+                            [angle_diff, -angle_down_limit * sign_of])
+        apply_angle = self.last_angle + angle_diff
 
         # Angular rate limit based on speed
         apply_angle = apply_std_steer_angle_limits(apply_angle, self.last_angle, CS.out.vEgo, self.params)