From a68bc7be2e637268a923b42e50b925c66e2a2e09 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Tue, 28 Apr 2026 18:52:55 -0500
Subject: [PATCH] volt

---
 selfdrive/controls/lib/latcontrol_torque.py | 32 ++++++++++-----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 68add53b8..304e4d894 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -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