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Bolt EUV: Non-linear torque function (#27696)

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* add erf based ff

* silly bug; diff of nonlinear != nonlinear of diff

* add sigmoid based ff, ensure slope at 0 > 1

* reduce steer down limit and increase driver allowance

* rebase panda

* atry without friction, and with tanh nonlinear

* finalize the nonlinear function

* do not disable friction compensation in the ff

* bump panda

* bump panda

* update refs

* update refs

* resolve comments

* Add type hints

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Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 15b880c0ea
This commit is contained in:
Vivek Aithal
2023-03-29 15:10:39 -07:00
committed by GitHub
parent fe5fee6931
commit b6909a65e7
7 changed files with 50 additions and 18 deletions
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selfdrive/test/process_replay/ref_commit
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