zhudongjer/carrot
1
1
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

revert Turnspeedcontroller

Browse Source
This commit is contained in:
ajouatom 2025-02-14 19:55:07 +09:00
parent 4d2e755a6f
commit 464b0bab85
1 changed files with 0 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
selfdrive/carrot/carrot_man.py
View File

@ -895,8 +895,6 @@ class CarrotServ:
self.gas_override_speed = 0 self.gas_override_speed = 0
self.source_last = "none" self.source_last = "none"
self.turn_speed_ratio = 1.0
self.gpsDelayTimeAdjust = 2.0 self.gpsDelayTimeAdjust = 2.0
self.debugText = "" self.debugText = ""
@ -1344,14 +1342,10 @@ class CarrotServ:
distanceTraveled = sm['selfdriveState'].distanceTraveled distanceTraveled = sm['selfdriveState'].distanceTraveled
delta_dist = distanceTraveled - self.totalDistance delta_dist = distanceTraveled - self.totalDistance
self.totalDistance = distanceTraveled self.totalDistance = distanceTraveled
steer_torque = sm['carControl'].actuators.steer
turn_speed_ratio = np.interp(abs(steer_torque), [0.8, 1.0], [1.0, 0.6])
self.turn_speed_ratio = self.turn_speed_ratio * 0.9 + turn_speed_ratio * 0.1
else: else:
v_ego = v_ego_kph = 0 v_ego = v_ego_kph = 0
delta_dist = 0 delta_dist = 0
CS = None CS = None
self.turn_speed_ratio = 1.0
#self.bearing = self.nPosAngle #self._update_gps(v_ego, sm) #self.bearing = self.nPosAngle #self._update_gps(v_ego, sm)
self.bearing = self._update_gps(v_ego, sm) self.bearing = self._update_gps(v_ego, sm)
@ -1458,13 +1452,6 @@ class CarrotServ:
if desired_speed < self.gas_override_speed: if desired_speed < self.gas_override_speed:
source = "gas" source = "gas"
desired_speed = self.gas_override_speed desired_speed = self.gas_override_speed
if self.turn_speed_ratio < 0.95:
if self.turn_speed_ratio < 0.5:
print("ERROR: turn_speed_ratio < 0.5", self.turn_speed_ratio)
else:
desired_speed *= self.turn_speed_ratio
source += "T"
self.debugText = ""#f"desired={desired_speed:.1f},{source},g={self.gas_override_speed:.0f}" self.debugText = ""#f"desired={desired_speed:.1f},{source},g={self.gas_override_speed:.0f}"