From bd19439a4cb5f4c9dccb178ea988e889f3b198f8 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 29 Sep 2024 11:28:27 -0400
Subject: [PATCH] move around

---
 selfdrive/car/card.py | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index f0cc69aef7..004a86f433 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -118,6 +118,11 @@ class Car:
     self.CP.alternativeExperience = 0
     if not self.disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
+
+    # mads
+    self.mads_enabled_toggle = True  # TODO-SP: Apply with toggle
+    data_services = list(self.sm.data.keys()) + ['selfdriveStateSP']
+    self.sm = messaging.SubMaster(data_services, poll='selfdriveStateSP')
     self.CP.alternativeExperience |= ModifiedAssistDrivingSystem(self).set_alternative_experience()
 
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
@@ -155,10 +160,6 @@ class Car:
     # card is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
-    data_services = list(self.sm.data.keys()) + ['selfdriveStateSP']
-    self.sm = messaging.SubMaster(data_services, poll='selfdriveStateSP')
-    self.mads_enabled_toggle = True  # TODO-SP: Apply with toggle
-
   def state_update(self) -> tuple[car.CarState, structs.RadarData | None]:
     """carState update loop, driven by can"""