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rav4kumar
2024-09-18 07:22:47 -07:00
parent e58c509d98
commit 7f29e30cd0
1 changed files with 2 additions and 2 deletions
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selfdrive/car/toyota/carcontroller.py
+2 -2
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@@ -16,7 +16,7 @@ from opendbc.can.packer import CANPacker
GearShifter = car.CarState.GearShifter
SteerControlType = car.CarParams.SteerControlType
VisualAlert = car.CarControl.HUDControl.VisualAlert
LongCtrlState = car.CarControl.Actuators.LongControlState
#LongCtrlState = car.CarControl.Actuators.LongControlState
# LKA limits
# EPS faults if you apply torque while the steering rate is above 100 deg/s for too long
@@ -51,7 +51,7 @@ class CarController(CarControllerBase):
self.pcm_accel_compensation = 0.0
self.distance_button = 0
self.pid = PIDController(k_p=1.0, k_i=0.25, k_f=0)
#self.pid = PIDController(k_p=1.0, k_i=0.25, k_f=0)
self.packer = CANPacker(dbc_name)
self.gas = 0