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@ -12,13 +12,12 @@ def create_steer_command(packer, steer, steer_req): |
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return packer.make_can_msg("STEERING_LKA", 0, values) |
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def create_lta_steer_command(packer, apply_steer, steer_angle, driver_torque, steer_req, raw_cnt): |
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def create_lta_steer_command(packer, apply_steer, steer_angle, driver_torque, steer_req): |
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"""Creates a CAN message for the Toyota LTA Steer Command.""" |
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percentage = interp(abs(driver_torque), [50, 100], [100, 0]) |
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apply_steer = interp(percentage, [-10, 100], [steer_angle, apply_steer]) |
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values = { |
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"COUNTER": raw_cnt, # 0 to 62 |
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"SETME_X1": 1, |
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"SETME_X3": 1, # usually 1, but sometimes 3 (??) |
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"PERCENTAGE": 100, # correlated with driver torque |
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