brianhansonxyz/clearpilot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

wip

Browse Source
This commit is contained in:
Your Name
2024-04-27 13:48:05 -05:00
parent 2fbe9dbea1
commit 931db76fc6
432 changed files with 12973 additions and 3300 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
selfdrive/car/mazda/carcontroller.py
View File

@@ -1,13 +1,14 @@
from cereal import car
from opendbc.can.packer import CANPacker
from openpilot.selfdrive.car import apply_driver_steer_torque_limits
from openpilot.selfdrive.car.interfaces import CarControllerBase
from openpilot.selfdrive.car.mazda import mazdacan
from openpilot.selfdrive.car.mazda.values import CarControllerParams, Buttons
VisualAlert = car.CarControl.HUDControl.VisualAlert
class CarController:
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.apply_steer_last = 0
@@ -35,13 +36,13 @@ class CarController:
if self.frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7):
# Cancel Stock ACC if it's enabled while OP is disengaged
# Send at a rate of 10hz until we sync with stock ACC state
can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.CANCEL))
can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.CANCEL))
else:
self.brake_counter = 0
if CC.cruiseControl.resume and self.frame % 5 == 0:
# Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
# Send Resume button when planner wants car to move
can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME))
can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.RESUME))
self.apply_steer_last = apply_steer
@@ -54,7 +55,7 @@ class CarController:
can_sends.append(mazdacan.create_alert_command(self.packer, CS.cam_laneinfo, ldw, steer_required))
# send steering command
can_sends.append(mazdacan.create_steering_control(self.packer, self.CP.carFingerprint,
can_sends.append(mazdacan.create_steering_control(self.packer, self.CP,
self.frame, apply_steer, CS.cam_lkas))
new_actuators = CC.actuators.copy()