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Toyota carcontroller: use class variable (#28733)

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* use params

* better names
This commit is contained in:
Shane Smiskol
2023-06-28 15:54:20 -07:00
committed by GitHub
parent 6a64d9fd55
commit dc83752bc0
2 changed files with 8 additions and 8 deletions
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selfdrive/car/toyota/carcontroller.py
+5 -5
View File
@@ -22,7 +22,7 @@ MAX_USER_TORQUE = 500
class CarController:
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.torque_rate_limits = CarControllerParams(self.CP)
self.params = CarControllerParams(self.CP)
self.frame = 0
self.last_steer = 0
self.alert_active = False
@@ -56,11 +56,11 @@ class CarController:
interceptor_gas_cmd = clip(pedal_command, 0., MAX_INTERCEPTOR_GAS)
else:
interceptor_gas_cmd = 0.
pcm_accel_cmd = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
# steer torque
new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits)
new_steer = int(round(actuators.steer * self.params.STEER_MAX))
apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.params)
# Count up to MAX_STEER_RATE_FRAMES, at which point we need to cut torque to avoid a steering fault
if lat_active and abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE:
@@ -162,7 +162,7 @@ class CarController:
can_sends.append(make_can_msg(addr, vl, bus))
new_actuators = actuators.copy()
new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
new_actuators.steer = apply_steer / self.params.STEER_MAX
new_actuators.steerOutputCan = apply_steer
new_actuators.accel = self.accel
new_actuators.gas = self.gas
selfdrive/car/toyota/toyotacan.py
+3 -3
View File
@@ -9,17 +9,17 @@ def create_steer_command(packer, steer, steer_req):
return packer.make_can_msg("STEERING_LKA", 0, values)
def create_lta_steer_command(packer, steer, steer_req, raw_cnt):
def create_lta_steer_command(packer, steer_angle, steer_req, frame):
"""Creates a CAN message for the Toyota LTA Steer Command."""
values = {
"COUNTER": raw_cnt + 128,
"COUNTER": frame + 128,
"SETME_X1": 1,
"SETME_X3": 3,
"PERCENTAGE": 100,
"SETME_X64": 0,
"ANGLE": 0,
"STEER_ANGLE_CMD": steer,
"STEER_ANGLE_CMD": steer_angle,
"STEER_REQUEST": steer_req,
"STEER_REQUEST_2": steer_req,
"BIT": 0,