From a047547f442193ea90c1fb3f5236a773cb854624 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Tue, 14 Apr 2026 22:18:33 -0500
Subject: [PATCH] plexy

---
 selfdrive/controls/lib/latcontrol_torque.py | 22 ++++++++++-----------
 1 file changed, 11 insertions(+), 11 deletions(-)

diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 0b5c27e24..edb2275ad 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -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: