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firestar5683
30 lines
1.0 KiB
Python
30 lines
1.0 KiB
Python
from cereal import car
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from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR
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from openpilot.selfdrive.selfdrived.selfdrived import commanded_torque_at_max_for_saturation
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def test_immediate_max_output_saturation_is_torque_controller_only():
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CP = car.CarParams.new_message()
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CP.steerControlType = car.CarParams.SteerControlType.torque
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CP.lateralTuning.init("torque")
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assert commanded_torque_at_max_for_saturation(CP, 1.0)
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assert not commanded_torque_at_max_for_saturation(CP, 0.99)
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CP.lateralTuning.init("pid")
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assert not commanded_torque_at_max_for_saturation(CP, 1.0)
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CP.lateralTuning.init("torque")
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CP.steerControlType = car.CarParams.SteerControlType.angle
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assert not commanded_torque_at_max_for_saturation(CP, 1.0)
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def test_gv70_uses_normal_saturation_timer_at_max_output():
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CP = car.CarParams.new_message()
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CP.carFingerprint = HYUNDAI_CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN
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CP.steerControlType = car.CarParams.SteerControlType.torque
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CP.lateralTuning.init("torque")
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assert not commanded_torque_at_max_for_saturation(CP, 1.0)
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