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This commit is contained in:
discountchubbs
2025-09-07 20:46:11 -07:00
parent 71e1149ee3
commit bff22dd699
1 changed files with 4 additions and 3 deletions
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sunnypilot/selfdrive/controls/lib/lane_turn_desire.py
+4 -3
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@@ -30,10 +30,10 @@ class LaneTurnController:
self.params = Params()
self.lane_turn_value = float(self.params.get("LaneTurnValue", return_default=True)) * CV.MPH_TO_MS
self.param_read_counter = 0
self.lane_turn_type = int(self.params.get("LaneTurnDesire", return_default=True))
self.lane_turn_type = self.params.get("LaneTurnDesire", return_default=True)
def read_params(self):
self.lane_turn_type = int(self.params.get("LaneTurnDesire", return_default=True))
self.lane_turn_type = self.params.get("LaneTurnDesire", return_default=True)
value = float(self.params.get("LaneTurnValue", return_default=True)) * CV.MPH_TO_MS
self.lane_turn_value = min(float(LANE_CHANGE_SPEED_MIN), value)
@@ -68,7 +68,8 @@ class LaneTurnController:
steering_pressed: bool, steering_torque: float) -> log.Desire:
self.update_params()
self.update_lane_turn(blindspot_left, blindspot_right, left_blinker, right_blinker, v_ego)
return self.return_desire(steering_pressed, steering_torque)
turn_desire = self.return_desire(steering_pressed, steering_torque)
return turn_desire
def get_lane_turn_direction(self) -> custom.TurnDirection:
return self.turn_direction