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wip

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2024-02-05 00:25:42 -06:00
parent b7cb5c8893
commit 425594dd0c
3 changed files with 10 additions and 8 deletions
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1
commit_and_push Normal file
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@@ -0,0 +1 @@
git add -A; git commit -m "wip"; bash push_github

10
selfdrive/controls/controlsd.py
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@@ -343,11 +343,11 @@ class Controls:
# self.events.add(EventName.laneChange) # self.events.add(EventName.laneChange)
# Handle turning # Handle turning
if not CS.standstill: # if not CS.standstill:
if self.sm['lateralPlan'].desire == Desire.turnLeft: # if self.sm['lateralPlan'].desire == Desire.turnLeft:
self.events.add(FrogPilotEventName.turningLeft) # self.events.add(FrogPilotEventName.turningLeft)
elif self.sm['lateralPlan'].desire == Desire.turnRight: # elif self.sm['lateralPlan'].desire == Desire.turnRight:
self.events.add(FrogPilotEventName.turningRight) # self.events.add(FrogPilotEventName.turningRight)
for i, pandaState in enumerate(self.sm['pandaStates']): 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 # All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput

7
selfdrive/controls/lib/desire_helper.py
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@@ -91,10 +91,11 @@ class DesireHelper:
if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX: if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
self.lane_change_state = LaneChangeState.off self.lane_change_state = LaneChangeState.off
self.lane_change_direction = LaneChangeDirection.none self.lane_change_direction = LaneChangeDirection.none
elif one_blinker and below_lane_change_speed and frogpilot_planner.turn_desires: # elif one_blinker and below_lane_change_speed and frogpilot_planner.turn_desires:
self.turn_direction = TurnDirection.turnLeft if carstate.leftBlinker else TurnDirection.turnRight # 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 # Set the "turn_completed" flag to prevent lane changes after completing a turn
self.turn_completed = True # self.turn_completed = True
else: else:
# TurnDirection.turnLeft / turnRight # TurnDirection.turnLeft / turnRight
self.turn_direction = TurnDirection.none self.turn_direction = TurnDirection.none