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gen2 bolt

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firestar5683
2026-05-15 21:39:32 -05:00
parent 309665f63e
commit be585f72a3
2 changed files with 11 additions and 11 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+9 -9
View File
@@ -186,10 +186,10 @@ BOLT_2022_2023_FF_CUTOFF = 1.35
BOLT_2022_2023_FF_CUTOFF_WIDTH = 0.28
BOLT_2022_2023_TRANSITION_SPEED = 9.0
BOLT_2022_2023_PHASE_SCALE = 0.12
BOLT_2022_2023_TURN_IN_BOOST_LEFT = 0.15
BOLT_2022_2023_TURN_IN_BOOST_RIGHT = 0.09
BOLT_2022_2023_TURN_IN_BOOST_LEFT = 0.18
BOLT_2022_2023_TURN_IN_BOOST_RIGHT = 0.13
BOLT_2022_2023_UNWIND_TAPER_LEFT = 0.38
BOLT_2022_2023_UNWIND_TAPER_RIGHT = 0.34
BOLT_2022_2023_UNWIND_TAPER_RIGHT = 0.40
BOLT_2022_2023_FRICTION_MULT = 1.09
BOLT_2022_2023_FRICTION_LAT_RISE = 0.22
BOLT_2022_2023_FRICTION_JERK_RISE = 0.26
@@ -198,14 +198,14 @@ BOLT_2022_2023_CENTER_TAPER_LAT = 0.18
BOLT_2022_2023_CENTER_TAPER_LAT_WIDTH = 0.03
BOLT_2022_2023_CENTER_TAPER_SPEED = 25.0
BOLT_2022_2023_CENTER_TAPER_SPEED_WIDTH = 2.5
BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.14
BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.08
BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.16
BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.12
BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_LEFT = 0.26
BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.22
BOLT_2022_2023_TURN_IN_FRICTION_BOOST_LEFT = 0.08
BOLT_2022_2023_TURN_IN_FRICTION_BOOST_RIGHT = 0.04
BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.28
BOLT_2022_2023_TURN_IN_FRICTION_BOOST_LEFT = 0.10
BOLT_2022_2023_TURN_IN_FRICTION_BOOST_RIGHT = 0.07
BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_LEFT = 0.27
BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_RIGHT = 0.23
BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_RIGHT = 0.28
VOLT_STANDARD_LATERAL_TESTING_GROUND_ID = testing_ground.id_3
VOLT_STANDARD_FF_GAIN_LEFT = 0.13
selfdrive/controls/tests/test_latcontrol.py
+2 -2
View File
@@ -174,7 +174,7 @@ class TestLatControl:
right_turn_in = get_bolt_2022_2023_friction_threshold(6.0, -0.7, -0.8)
left_unwind = get_bolt_2022_2023_friction_threshold(6.0, 0.7, -0.8)
right_unwind = get_bolt_2022_2023_friction_threshold(6.0, -0.7, 0.8)
assert left_turn_in < right_turn_in < base < right_unwind < left_unwind
assert left_turn_in <= right_turn_in < base < right_unwind <= left_unwind
def test_bolt_2022_2023_friction_scale_curve(self):
base = get_bolt_2022_2023_friction_scale(25.0, 0.7, 0.8)
@@ -183,7 +183,7 @@ class TestLatControl:
left_unwind = get_bolt_2022_2023_friction_scale(6.0, 0.7, -0.8)
right_unwind = get_bolt_2022_2023_friction_scale(6.0, -0.7, 0.8)
assert left_turn_in > right_turn_in > base
assert base > right_unwind > left_unwind
assert base > right_unwind >= left_unwind
def test_volt_plexy_ff_scale_curve(self):
assert get_volt_plexy_ff_scale(0.0, 0.0, 20.0) == 1.0