Update joystick_control.py

selfdrive/selfdrived/events.py

@@ -185,7 +185,9 @@ def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
 def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   gb = sm['carControl'].actuators.accel / 4.
   steer = sm['carControl'].actuators.torque
-  vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%"
+  damp = sm['carControl'].actuators.dampFactor
+  damp_pct = round((damp - 3) / (200 - 3) * 100.) if damp > 0 else 50
+  vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%\nDamp: {damp_pct}%"
   return NormalPermanentAlert("Joystick Mode", vals)
 
 

tools/joystick/joystick_control.py

@@ -55,10 +55,11 @@ class Joystick:
       steer_axis = 'ABS_Z'
       self.flip_map = {'ABS_RY': accel_axis}
 
-    self.min_axis_value = {accel_axis: 0., steer_axis: 0.}
-    self.max_axis_value = {accel_axis: 255., steer_axis: 255.}
-    self.axes_values = {accel_axis: 0., steer_axis: 0.}
-    self.axes_order = [accel_axis, steer_axis]
+    damp_axis = 'ABS_X'
+    self.min_axis_value = {accel_axis: 0., steer_axis: 0., damp_axis: 0.}
+    self.max_axis_value = {accel_axis: 255., steer_axis: 255., damp_axis: 255.}
+    self.axes_values = {accel_axis: 0., steer_axis: 0., damp_axis: 0.}
+    self.axes_order = [accel_axis, steer_axis, damp_axis]
     self.cancel = False
 
   def update(self):
@@ -69,6 +70,7 @@ class Joystick:
       return False
 
     event = (joystick_event.code, joystick_event.state)
+    print(f"event: code={joystick_event.code}, state={joystick_event.state}, ev_type={joystick_event.ev_type}")
 
     # flip left trigger to negative accel
     if event[0] in self.flip_map:

tools/joystick/joystickd.py

@@ -57,6 +57,10 @@ def joystickd_thread():
       actuators.torque = float(np.clip(joystick_axes[1], -1, 1))
       actuators.steeringAngleDeg, actuators.curvature = actuators.torque * max_angle, actuators.torque * -max_curvature
 
+    if len(joystick_axes) > 2:
+      # axes[2] controls DAMP_FACTOR: [-1, 1] mapped to [3, 200]
+      actuators.dampFactor = float(np.interp(joystick_axes[2], [-1, 1], [3, 200]))
+
     pm.send('carControl', cc_msg)
 
     cs_msg = messaging.new_message('controlsState')