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plexy

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firestar5683
2026-04-14 22:18:33 -05:00
parent d4f2cd3e37
commit a047547f44
1 changed files with 11 additions and 11 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+11 -11
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@@ -131,29 +131,29 @@ BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_LEFT = 0.21
BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_RIGHT = 0.17
VOLT_PLEXY_LATERAL_TESTING_GROUND_ID = testing_ground.id_7
VOLT_PLEXY_FF_GAIN_LEFT = 0.11
VOLT_PLEXY_FF_GAIN_RIGHT = 0.05
VOLT_PLEXY_FF_GAIN_LEFT = 0.12
VOLT_PLEXY_FF_GAIN_RIGHT = 0.06
VOLT_PLEXY_FF_ONSET = 0.10
VOLT_PLEXY_FF_ONSET_WIDTH = 0.06
VOLT_PLEXY_FF_CUTOFF = 1.35
VOLT_PLEXY_FF_CUTOFF_WIDTH = 0.24
VOLT_PLEXY_TRANSITION_SPEED = 10.5
VOLT_PLEXY_PHASE_SCALE = 0.10
VOLT_PLEXY_TURN_IN_BOOST_LEFT = 0.18
VOLT_PLEXY_TURN_IN_BOOST_RIGHT = 0.08
VOLT_PLEXY_TURN_IN_BOOST_LEFT = 0.22
VOLT_PLEXY_TURN_IN_BOOST_RIGHT = 0.18
VOLT_PLEXY_UNWIND_TAPER_LEFT = 0.22
VOLT_PLEXY_UNWIND_TAPER_RIGHT = 0.34
VOLT_PLEXY_UNWIND_TAPER_RIGHT = 0.46
VOLT_PLEXY_FRICTION_MULT = 1.04
VOLT_PLEXY_FRICTION_LAT_RISE = 0.22
VOLT_PLEXY_FRICTION_JERK_RISE = 0.24
VOLT_PLEXY_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.14
VOLT_PLEXY_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.08
VOLT_PLEXY_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.16
VOLT_PLEXY_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.10
VOLT_PLEXY_UNWIND_THRESHOLD_INCREASE_LEFT = 0.15
VOLT_PLEXY_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.24
VOLT_PLEXY_TURN_IN_FRICTION_BOOST_LEFT = 0.07
VOLT_PLEXY_TURN_IN_FRICTION_BOOST_RIGHT = 0.03
VOLT_PLEXY_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.30
VOLT_PLEXY_TURN_IN_FRICTION_BOOST_LEFT = 0.08
VOLT_PLEXY_TURN_IN_FRICTION_BOOST_RIGHT = 0.05
VOLT_PLEXY_UNWIND_FRICTION_REDUCTION_LEFT = 0.16
VOLT_PLEXY_UNWIND_FRICTION_REDUCTION_RIGHT = 0.26
VOLT_PLEXY_UNWIND_FRICTION_REDUCTION_RIGHT = 0.34
def _sigmoid(x: float) -> float: