From 7f29e30cd0f3faa46ca52c11167ea56cee598176 Mon Sep 17 00:00:00 2001 From: rav4kumar Date: Wed, 18 Sep 2024 07:22:47 -0700 Subject: [PATCH] not needed --- selfdrive/car/toyota/carcontroller.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 1264119a05..d437368ad5 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -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