From 425594dd0c914b9e11e93af10e1998e102bf3b71 Mon Sep 17 00:00:00 2001 From: Your Name Date: Mon, 5 Feb 2024 00:25:42 -0600 Subject: [PATCH] wip --- commit_and_push | 1 + selfdrive/controls/controlsd.py | 10 +++++----- selfdrive/controls/lib/desire_helper.py | 7 ++++--- 3 files changed, 10 insertions(+), 8 deletions(-) create mode 100644 commit_and_push diff --git a/commit_and_push b/commit_and_push new file mode 100644 index 0000000..1d35420 --- /dev/null +++ b/commit_and_push @@ -0,0 +1 @@ + git add -A; git commit -m "wip"; bash push_github diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index c9eac9b..e4b805a 100644 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -343,11 +343,11 @@ class Controls: # self.events.add(EventName.laneChange) # Handle turning - if not CS.standstill: - if self.sm['lateralPlan'].desire == Desire.turnLeft: - self.events.add(FrogPilotEventName.turningLeft) - elif self.sm['lateralPlan'].desire == Desire.turnRight: - self.events.add(FrogPilotEventName.turningRight) + # if not CS.standstill: + # if self.sm['lateralPlan'].desire == Desire.turnLeft: + # self.events.add(FrogPilotEventName.turningLeft) + # elif self.sm['lateralPlan'].desire == Desire.turnRight: + # self.events.add(FrogPilotEventName.turningRight) for i, pandaState in enumerate(self.sm['pandaStates']): # All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py index 22a582a..3db21c4 100644 --- a/selfdrive/controls/lib/desire_helper.py +++ b/selfdrive/controls/lib/desire_helper.py @@ -91,10 +91,11 @@ class DesireHelper: if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX: self.lane_change_state = LaneChangeState.off self.lane_change_direction = LaneChangeDirection.none - elif one_blinker and below_lane_change_speed and frogpilot_planner.turn_desires: - self.turn_direction = TurnDirection.turnLeft if carstate.leftBlinker else TurnDirection.turnRight + # elif one_blinker and below_lane_change_speed and frogpilot_planner.turn_desires: + # BBOT + # self.turn_direction = TurnDirection.turnLeft if carstate.leftBlinker else TurnDirection.turnRight # Set the "turn_completed" flag to prevent lane changes after completing a turn - self.turn_completed = True + # self.turn_completed = True else: # TurnDirection.turnLeft / turnRight self.turn_direction = TurnDirection.none