mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-14 05:42:13 +08:00
Justin Newberry
351b1e1f5f
* this is decent * make sure the docs don't change for now * hackery * these can live here old-commit-hash: 1ee8c9aa3317460979dfc2a96eccd101b1b70d41
42 lines
1.0 KiB
Python
42 lines
1.0 KiB
Python
from cereal import car
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from openpilot.selfdrive.car import PlatformConfig, Platforms, dbc_dict
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from openpilot.selfdrive.car.docs_definitions import CarInfo
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from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
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Ecu = car.CarParams.Ecu
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SPEED_FROM_RPM = 0.008587
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class CarControllerParams:
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ANGLE_DELTA_BP = [0., 5., 15.]
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ANGLE_DELTA_V = [5., .8, .15] # windup limit
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ANGLE_DELTA_VU = [5., 3.5, 0.4] # unwind limit
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LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower
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STEER_THRESHOLD = 1.0
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def __init__(self, CP):
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pass
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class CAR(Platforms):
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BODY = PlatformConfig(
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"COMMA BODY",
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CarInfo("comma body", package="All"),
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dbc_dict('comma_body', None),
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)
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FW_QUERY_CONFIG = FwQueryConfig(
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requests=[
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Request(
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[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
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[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
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bus=0,
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),
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],
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)
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CAR_INFO = CAR.create_carinfo_map()
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DBC = CAR.create_dbc_map()
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