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firestar5683
2026-04-26 23:16:42 -05:00
parent a5dae4669c
commit 4026b6af9b
1 changed files with 14 additions and 14 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+14 -14
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@@ -155,23 +155,23 @@ VOLT_STANDARD_FF_CUTOFF = 1.30
VOLT_STANDARD_FF_CUTOFF_WIDTH = 0.24
VOLT_STANDARD_TRANSITION_SPEED = 10.0
VOLT_STANDARD_PHASE_SCALE = 0.10
VOLT_STANDARD_TURN_IN_BOOST_LEFT = 0.06
VOLT_STANDARD_TURN_IN_BOOST_RIGHT = 0.30
VOLT_STANDARD_UNWIND_TAPER_LEFT = 0.12
VOLT_STANDARD_UNWIND_TAPER_RIGHT = 0.22
VOLT_STANDARD_TURN_IN_BOOST_LEFT = 0.12
VOLT_STANDARD_TURN_IN_BOOST_RIGHT = 0.40
VOLT_STANDARD_UNWIND_TAPER_LEFT = 0.18
VOLT_STANDARD_UNWIND_TAPER_RIGHT = 0.34
VOLT_STANDARD_FRICTION_MULT = 1.04
VOLT_STANDARD_FRICTION_LAT_RISE = 0.20
VOLT_STANDARD_FRICTION_JERK_RISE = 0.24
VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.02
VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.18
VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_LEFT = 0.04
VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.18
VOLT_STANDARD_TURN_IN_FRICTION_BOOST_LEFT = 0.01
VOLT_STANDARD_TURN_IN_FRICTION_BOOST_RIGHT = 0.10
VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_LEFT = 0.04
VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_RIGHT = 0.14
VOLT_STANDARD_CENTER_TAPER_MAX = 0.08
VOLT_STANDARD_CENTER_TAPER_LAT = 0.10
VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.06
VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.22
VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_LEFT = 0.08
VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.28
VOLT_STANDARD_TURN_IN_FRICTION_BOOST_LEFT = 0.03
VOLT_STANDARD_TURN_IN_FRICTION_BOOST_RIGHT = 0.12
VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_LEFT = 0.08
VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_RIGHT = 0.22
VOLT_STANDARD_CENTER_TAPER_MAX = 0.09
VOLT_STANDARD_CENTER_TAPER_LAT = 0.11
VOLT_STANDARD_CENTER_TAPER_LAT_WIDTH = 0.02
VOLT_STANDARD_CENTER_TAPER_SPEED = 20.0
VOLT_STANDARD_CENTER_TAPER_SPEED_WIDTH = 2.5