James
20 lines
512 B
Python
20 lines
512 B
Python
#!/usr/bin/env python3
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import numpy as np
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from openpilot.selfdrive.controls.lib.longitudinal_planner import ACCEL_MIN, get_max_accel
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class FrogPilotAcceleration:
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def __init__(self, FrogPilotPlanner):
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self.frogpilot_planner = FrogPilotPlanner
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self.max_accel = 0
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self.min_accel = 0
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def update(self, v_ego, sm, frogpilot_toggles):
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self.max_accel = get_max_accel(v_ego)
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if self.frogpilot_planner.tracking_lead:
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self.min_accel = ACCEL_MIN
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else:
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self.min_accel = ACCEL_MIN
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