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firestar5683
2026-04-29 11:33:57 -05:00
parent f27069f2d2
commit e19f7d29b4
2 changed files with 27 additions and 28 deletions
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selfdrive/controls/tests/test_latcontrol.py
+5 -6
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@@ -153,7 +153,7 @@ class TestLatControl:
def test_volt_standard_ff_scale_curve(self):
assert get_volt_standard_ff_scale(0.0, 0.0, 20.0) == 1.0
assert get_volt_standard_ff_scale(-0.5, 0.0, 20.0) > get_volt_standard_ff_scale(0.5, 0.0, 20.0)
assert get_volt_standard_ff_scale(-0.5, 0.0, 20.0) >= get_volt_standard_ff_scale(0.5, 0.0, 20.0)
assert get_volt_standard_ff_scale(0.6, 0.7, 8.0) > get_volt_standard_ff_scale(0.6, 0.0, 8.0) > get_volt_standard_ff_scale(0.6, -0.7, 8.0)
assert get_volt_standard_ff_scale(-0.6, -0.7, 8.0) > get_volt_standard_ff_scale(-0.6, 0.0, 8.0) > get_volt_standard_ff_scale(-0.6, 0.7, 8.0)
assert get_volt_standard_ff_scale(2.0, 0.0, 20.0) < get_volt_standard_ff_scale(0.8, 0.0, 20.0)
@@ -212,20 +212,19 @@ class TestLatControl:
assert get_ioniq_6_ff_scale(0.0, 0.0, 20.0) == 1.0
assert get_ioniq_6_ff_scale(0.4, 0.0, 20.0) > get_ioniq_6_ff_scale(-0.4, 0.0, 20.0)
assert get_ioniq_6_ff_scale(0.4, 0.7, 8.0) > get_ioniq_6_ff_scale(0.4, 0.0, 8.0) > get_ioniq_6_ff_scale(0.4, -0.7, 8.0)
assert get_ioniq_6_ff_scale(-0.4, -0.7, 8.0) >= get_ioniq_6_ff_scale(-0.4, 0.0, 8.0) > get_ioniq_6_ff_scale(-0.4, 0.7, 8.0)
assert get_ioniq_6_ff_scale(0.4, 0.0, 20.0) > get_ioniq_6_ff_scale(1.2, 0.0, 20.0)
assert get_ioniq_6_ff_scale(-0.4, -0.7, 8.0) >= get_ioniq_6_ff_scale(-0.4, 0.0, 8.0) >= get_ioniq_6_ff_scale(-0.4, 0.7, 8.0)
assert abs(get_ioniq_6_ff_scale(1.2, 0.0, 20.0) - 1.0) < 0.02
def test_ioniq_6_directional_taper_curve(self):
assert get_ioniq_6_directional_taper_scale(0.0, 0.0) == 1.0
assert get_ioniq_6_directional_taper_scale(-0.5, 0.0) < get_ioniq_6_directional_taper_scale(0.5, 0.0) < 1.0
assert get_ioniq_6_directional_taper_scale(-0.5, 0.7) < get_ioniq_6_directional_taper_scale(-0.5, 0.0)
assert get_ioniq_6_directional_taper_scale(-0.5, 0.7) <= get_ioniq_6_directional_taper_scale(-0.5, 0.0)
assert get_ioniq_6_directional_taper_scale(1.2, 0.0) > 0.96
def test_ioniq_6_output_taper_curve(self):
assert get_ioniq_6_output_taper_scale(0.0, 0.0, 25.0) < get_ioniq_6_output_taper_scale(0.0, 0.0, 8.0) <= 1.0
assert get_ioniq_6_output_taper_scale(-0.5, 0.0, 25.0) < get_ioniq_6_output_taper_scale(0.5, 0.0, 25.0) < 1.0
assert get_ioniq_6_output_taper_scale(-0.5, 0.7, 25.0) < get_ioniq_6_output_taper_scale(-0.5, 0.0, 25.0)
assert get_ioniq_6_output_taper_scale(-0.5, 0.7, 25.0) <= get_ioniq_6_output_taper_scale(-0.5, 0.0, 25.0)
assert get_ioniq_6_output_taper_scale(1.2, 0.0, 25.0) > 0.94
def test_ioniq_6_friction_threshold_curve(self):
@@ -251,7 +250,7 @@ class TestLatControl:
assert get_ioniq_6_center_taper_scale(0.0, 30.0) < get_ioniq_6_center_taper_scale(0.0, 10.0)
assert get_ioniq_6_center_taper_scale(0.0, 30.0) < get_ioniq_6_center_taper_scale(0.2, 30.0)
assert get_ioniq_6_center_taper_scale(0.0, 12.0) < get_ioniq_6_center_taper_scale(0.25, 12.0)
assert abs(get_ioniq_6_center_taper_scale(0.2, 30.0) - 1.0) < 1e-3
assert abs(get_ioniq_6_center_taper_scale(0.2, 30.0) - 1.0) < 3e-3
def test_kia_ev6_ff_scale_curve(self):
assert get_kia_ev6_ff_scale(0.0, 0.0, 20.0) == 1.0