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26 lines
915 B
26 lines
915 B
Debug car controls
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**Hardware needed**: [panda](panda.comma.ai), [giraffe](https://comma.ai/shop/products/giraffe/), joystick
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Use the panda's OBD-II port to connect with your car and a usb cable to connect the panda to your pc.
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Also, connect a joystick to your pc.
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`joystickd.py` runs a deamon that reads inputs from a joystick and publishes them over zmq.
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`boardd` sends the CAN messages from your pc to the panda.
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`debug_controls` is a mocked version of `controlsd.py` and uses input from a joystick to send controls to your car.
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Make sure the conditions are met in the panda to allow controls (e.g. cruise control engaged). You can also make a modification to the panda code to always allow controls.
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Usage:
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```
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python carcontrols/joystickd.py
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# In another terminal:
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BASEDIR=$(pwd) selfdrive/boardd/boardd
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# In another terminal:
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python carcontrols/debug_controls.py
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```
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