From 9a1692569e312bf3a23857aca8b0bec8e921a1c0 Mon Sep 17 00:00:00 2001 From: ajouatom Date: Wed, 19 Feb 2025 15:01:12 +0900 Subject: [PATCH] angle steer max --- opendbc_repo/opendbc/car/hyundai/carcontroller.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/opendbc_repo/opendbc/car/hyundai/carcontroller.py b/opendbc_repo/opendbc/car/hyundai/carcontroller.py index a7208d9..76833fe 100644 --- a/opendbc_repo/opendbc/car/hyundai/carcontroller.py +++ b/opendbc_repo/opendbc/car/hyundai/carcontroller.py @@ -79,6 +79,7 @@ class CarController(CarControllerBase): self.apply_angle_last = 0 self.lkas_max_torque = 0 self.driver_applied_torque_reducer = 0 + self.angle_max_torque = 200 self.canfd_debug = 0 @@ -92,6 +93,9 @@ class CarController(CarControllerBase): steerDeltaDown = params.get_int("CustomSteerDeltaDown") if steerMax > 0: self.params.STEER_MAX = steerMax + self.angle_max_torque = steerMax + else: + self.angle_max_torque = 200 if steerDeltaUp > 0: self.params.STEER_DELTA_UP = steerDeltaUp if steerDeltaDown > 0: @@ -132,7 +136,7 @@ class CarController(CarControllerBase): #ego_weight = np.interp(CS.out.vEgoCluster, [0, 5, 10, 20], [0.2, 0.3, 0.5, 1.0]) #self.driver_applied_torque_reducer = max(30, min(150, self.driver_applied_torque_reducer + (-1 if abs(CS.out.steeringTorque) > 200 else 1))) #self.lkas_max_torque = int(round(max_torque * ego_weight * (self.driver_applied_torque_reducer / 150))) - MAX_TORQUE = 200 + MAX_TORQUE = self.angle_max_torque ego_weight = np.interp(CS.out.vEgo, [0, 5, 10, 20], [0.2, 0.3, 0.5, 1.0]) if abs(CS.out.steeringTorque) > 700: self.driver_applied_torque_reducer -= 1