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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/tools/carcontrols/README.md

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Debug car controls

Hardware needed: panda, giraffe, joystick

Use the panda's OBD-II port to connect with your car and a usb cable to connect the panda to your pc. Also, connect a joystick to your pc.

joystickd.py runs a deamon that reads inputs from a joystick and publishes them over zmq. boardd sends the CAN messages from your pc to the panda. debug_controls is a mocked version of controlsd.py and uses input from a joystick to send controls to your car.

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.

Usage:

python carcontrols/joystickd.py

# In another terminal:
BASEDIR=$(pwd) selfdrive/boardd/boardd

# In another terminal:
python carcontrols/debug_controls.py

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