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openpilot_comma
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openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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openpilot_comma/body/README.md

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comma body

This the firmware for the comma body robotics dev kit.

Learn more at commabody.com.

building

Compile: scons

Flash bootstub and app: board/recover.sh # STM flasher should be connected to debug port, needs openocd

Flash app through CAN bus with panda:

board/flash_base.sh # base motherboard

board/flash_knee.sh # knee motherboard