From be585f72a3108151e6b99851965ef6a70952b9d2 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Fri, 15 May 2026 21:39:32 -0500
Subject: [PATCH] gen2 bolt

---
 selfdrive/controls/lib/latcontrol_torque.py | 18 +++++++++---------
 selfdrive/controls/tests/test_latcontrol.py |  4 ++--
 2 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 86414054a..96f0f837d 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -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
diff --git a/selfdrive/controls/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py
index ed06cb969..f38fac218 100644
--- a/selfdrive/controls/tests/test_latcontrol.py
+++ b/selfdrive/controls/tests/test_latcontrol.py
@@ -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