brianhansonxyz/clearpilot
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2024-06-09 16:08:19 -05:00
parent cb7eda64d9
commit a963ea0296
8 changed files with 63 additions and 233 deletions
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12
selfdrive/controls/controlsd.py
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@@ -1237,14 +1237,14 @@ class Controls:
def clearpilot_state_control(self, CC, CS):
if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
# self.params_memory.put_bool("CPTLkasButtonAction", True)
if self.params_memory.get_bool("CPTLkasButtonAction"):
self.params_memory.put_bool("CPTLkasButtonAction", False)
else:
self.params_memory.put_bool("CPTLkasButtonAction", True)
self.params_memory.put_bool("CPTLkasButtonAction", True)
# if self.params_memory.get_bool("CPTLkasButtonAction"):
# self.params_memory.put_bool("CPTLkasButtonAction", False)
# else:
# self.params_memory.put_bool("CPTLkasButtonAction", True)
# CS.lkas_enabled = self.params_memory.get_bool("CPTLkasButtonAction")
self.params_memory.put_int("SpeedLimitLatDesired", CC.actuators.speed * CV.MS_TO_MPH )
# self.params_memory.put_int("SpeedLimitLatDesired", CC.actuators.speed * CV.MS_TO_MPH )
# CC.actuators.speed
# print ("Alive")
return CC