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volt

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firestar5683
2026-04-28 18:52:55 -05:00
parent 2ed89e4bb7
commit a68bc7be2e
1 changed files with 16 additions and 16 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+16 -16
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@@ -147,7 +147,7 @@ BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_LEFT = 0.21
BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_RIGHT = 0.17
VOLT_STANDARD_LATERAL_TESTING_GROUND_ID = testing_ground.id_3
VOLT_STANDARD_FF_GAIN_LEFT = 0.08
VOLT_STANDARD_FF_GAIN_LEFT = 0.09
VOLT_STANDARD_FF_GAIN_RIGHT = 0.09
VOLT_STANDARD_FF_ONSET = 0.10
VOLT_STANDARD_FF_ONSET_WIDTH = 0.05
@@ -155,24 +155,24 @@ 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 = 0.14
VOLT_STANDARD_TURN_IN_BOOST_RIGHT = 0.46
VOLT_STANDARD_UNWIND_TAPER_LEFT = 0.20
VOLT_STANDARD_UNWIND_TAPER_RIGHT = 0.42
VOLT_STANDARD_TURN_IN_BOOST_LEFT = 0.18
VOLT_STANDARD_TURN_IN_BOOST_RIGHT = 0.52
VOLT_STANDARD_UNWIND_TAPER_LEFT = 0.22
VOLT_STANDARD_UNWIND_TAPER_RIGHT = 0.50
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 = 0.08
VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.26
VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_LEFT = 0.10
VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.36
VOLT_STANDARD_TURN_IN_FRICTION_BOOST_LEFT = 0.04
VOLT_STANDARD_TURN_IN_FRICTION_BOOST_RIGHT = 0.14
VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_LEFT = 0.10
VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_RIGHT = 0.30
VOLT_STANDARD_CENTER_TAPER_MAX = 0.11
VOLT_STANDARD_CENTER_TAPER_LAT = 0.12
VOLT_STANDARD_CENTER_TAPER_LAT_WIDTH = 0.02
VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.10
VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.30
VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_LEFT = 0.12
VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.42
VOLT_STANDARD_TURN_IN_FRICTION_BOOST_LEFT = 0.05
VOLT_STANDARD_TURN_IN_FRICTION_BOOST_RIGHT = 0.16
VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_LEFT = 0.12
VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_RIGHT = 0.36
VOLT_STANDARD_CENTER_TAPER_MAX = 0.12
VOLT_STANDARD_CENTER_TAPER_LAT = 0.10
VOLT_STANDARD_CENTER_TAPER_LAT_WIDTH = 0.018
VOLT_STANDARD_CENTER_TAPER_SPEED = 20.0
VOLT_STANDARD_CENTER_TAPER_SPEED_WIDTH = 2.5