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FrogPilot Setup

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This commit is contained in:
FrogAi
2024-03-01 09:26:59 -07:00
parent 505ad1fbfe
commit 6c946fc97a
106 changed files with 2349 additions and 185 deletions
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2
selfdrive/car/body/carcontroller.py
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@@ -34,7 +34,7 @@ class CarController:
torque -= deadband
return torque
def update(self, CC, CS, now_nanos):
def update(self, CC, CS, now_nanos, frogpilot_variables):
torque_l = 0
torque_r = 0

2
selfdrive/car/body/carstate.py
View File

@@ -6,7 +6,7 @@ from openpilot.selfdrive.car.body.values import DBC
STARTUP_TICKS = 100
class CarState(CarStateBase):
def update(self, cp):
def update(self, cp, frogpilot_variables):
ret = car.CarState.new_message()
ret.wheelSpeeds.fl = cp.vl['MOTORS_DATA']['SPEED_L']

10
selfdrive/car/body/interface.py
View File

@@ -7,7 +7,7 @@ from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
ret.notCar = True
ret.carName = "body"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]
@@ -29,8 +29,8 @@ class CarInterface(CarInterfaceBase):
return ret
def _update(self, c):
ret = self.CS.update(self.cp)
def _update(self, c, frogpilot_variables):
ret = self.CS.update(self.cp, frogpilot_variables)
# wait for everything to init first
if self.frame > int(5. / DT_CTRL):
@@ -42,5 +42,5 @@ class CarInterface(CarInterfaceBase):
return ret
def apply(self, c, now_nanos):
return self.CC.update(c, self.CS, now_nanos)
def apply(self, c, now_nanos, frogpilot_variables):
return self.CC.update(c, self.CS, now_nanos, frogpilot_variables)