From c0fd0fd1b75fc9432d4e7cccf9101cae5ca4ccb6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 9 Dec 2022 13:23:22 -0800 Subject: [PATCH] this doesn't work that well --- selfdrive/car/toyota/carcontroller.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 618359c3ba..b482330900 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -82,9 +82,9 @@ class CarController: # limit max angle error between cmd and actual to reduce EPS integral windup # TODO: can we configure this with a signal? - apply_angle = clip(apply_angle, - torque_sensor_angle - self.params.ANGLE_DELTA_MAX, - torque_sensor_angle + self.params.ANGLE_DELTA_MAX) + # apply_angle = clip(apply_angle, + # torque_sensor_angle - self.params.ANGLE_DELTA_MAX, + # torque_sensor_angle + self.params.ANGLE_DELTA_MAX) # Angular rate limit based on speed apply_angle = apply_std_steer_angle_limits(apply_angle, self.last_angle, CS.out.vEgo, self.params)