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

wip

Browse Source
This commit is contained in:
Your Name
2024-02-05 16:25:47 -06:00
parent 7949e90b75
commit 2964ede91a
6 changed files with 56 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
selfdrive/car/hyundai/carcontroller.py
View File

@@ -176,6 +176,16 @@ class CarController:
def create_button_messages(self, CC: car.CarControl, CS: car.CarState, use_clu11: bool):
can_sends = []
if CS.custom_speed_down:
CS.custom_speed_down = False
if self.CP.openpilotLongitudinalControl:
CC.cruiseControl.resume = True
self.CP.openpilotLongitudinalControl = False
else:
CC.cruiseControl.cancel = True
self.CP.openpilotLongitudinalControl = True
if use_clu11:
if CC.cruiseControl.cancel:
can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP.carFingerprint))
@@ -208,9 +218,7 @@ class CarController:
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL))
self.last_button_frame = self.frame
if CS.custom_speed_up:
can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP.carFingerprint)] * 25)
elif CS.custom_speed_down:
can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.SET_DECEL, self.CP.carFingerprint)] * 25)
return can_sends